2A2-E13 モデルベース開発とリスク分析の枠組みによる環境ロバスト性とシステム信頼性を備えた屋外自律移動ロボットQUVICの開発

概要

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This paper describes an autonomous mobile robot "QUVIC", capable of outdoor navigation in a crowd. Robustness and dependability are important for autonomous navigation. Therefore we applied Model Based Development framework to perception system in order to make it robust. Then, we used Failure Mode and Effect Analysis method to improve dependability. On Tsukuba Challenge experiments in a crowded environment up to 40 people per 100 m^2, "QUVIC" autonomously ran 1 km 9 times in 14 times.