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方領域における障害物を 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 detect obstacles in front and lateral areas 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 to detect the obstacle in lateral area. On the basis of the mechanism, concrete design method was shown about, a layout and the width of the mirror in lateral scanning, the minimum layout area, scanning areas and reflecting points in front and lateral. By use of the design method, design results were shown about a number of different-sized scanner, AGV and mirrors. 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.