自律的帰還機能を持つ荷物運搬用電動台車の開発

抄録

We developed a smart handcart with autonomous returning function. In the conventional handcarts to carry baggage, a user pushes a handcart with baggages on the way to destination, and then, he also should carry it back without load. The developed handcart is equipped with odometry function and a laser range scanner. It records its trajectory and surrounding environment while going to destination, and it can autonomously return back to the station by retracing the recorded trajectory and environmental information. As feature of the environment to compensate the accumulating error in odometry, the cart uses flat wall and edge of pillar which is extracted by its laser range scanner. Experimental results shows the effectiveness and reliability of the system.