天井蛍光灯を利用した自律走行移動体

抄録

This paper describes the research of an autonomous vehicle which is navigated using fluorescent lamps on the ceiling. Fluorescent lamps already exist on the most factories and can be easily extracted from background because of their high contrast. Thus, this vehicle system is simple and flexible, so it is useful for the transfer system or the floor cleaning system in the factory. This paper consists of two parts. First, the guided vehicle which moves along the ceiling fluorescent lamps is shown. Its courses are composed of the straight motion and the rotation motion. Second, the position measurement and control of vehicle is illustrated. This system realizes more smooth and high accurate vehicle moving. Each system is verified by examinations of the real test vehicle and computer simulations.