2A2-F09 つくばチャレンジ2008における自律移動ロボットの開発 : HOIST2のシステム構成とナビゲーション手法

概要

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Our purpose is to develop a mobile robot which runs autonomous at the real world. The targeted environment is a public pedestrian, where there are many people and obstacles such as bicycles, trees, streetlamps and etc. We converted an electric cart and developed a mobile robot HOIST2, which can run autonomous by the navigation system. This paper describes the hardware system composition and the navigation strategy of HOIST2. The hardware system composes of steering control unit, wheel encoders and some sensors such as SOKUIKI sensor, GPS and etc. The navigation system consists of localization, following reference path and an obstacle avoidance method. In finally, we entered the RWRC 2008 and carried out the experiment of autonomous running the 1km course at the real environment. And we indicate the experimental result and conclusion.
一般社団法人日本機械学会の論文
2009-05-25