二次元レーザレンジスキャナおよび鏡を用いた無人搬送車の前方および側面における障害物を同時に検出する装置の最小配置設計

抄録

In this study, the purpose is to design a minimum layout about a device to obstacles in front and sides of an automated guided vehicle (AGV) at the same time using a two-dimensional laser range scanner and mirrors. The results were as follows. Mechanism of the minimum layout design was shown. On the basis of the mechanism, concrete design method was shown about reflecting points and receiving areas, an angle and the width of the mirror in side, the minimum layout area, and a scanning area in front. By use of the design method, design results were shown about a number of different-sized scanner and AGV. By use of actual scanner and mirrors, performance of the minimum layout design was evaluated to lay out actual obstacles and size of the AGV.