同次変換を用いた自律型移動ロボットの任意曲線コース誘導方法

抄録

The application of a homogeneous matrix (Denavit-Hartenberg Convention) to manipulator-equipped mobile robots can unify the movement expression of mobile robot and manipulator kinematics. This concept can be expected to enable enhanced operational efficiency for total system control. Proposed in this paper is a new guidance method for autonomous mobile robots operating on arbitrarily curved courses, using a homogeneous matrix system. We approximated an arbitrarily shaped course to circular arcs and straight lines to make easier to describe it by language as the objective course. The proposed guidance control method, based on the geometrical concept that a circular course with an infinitely long radius is equal to a straight course, is suited to these course variations. Results of actual driving experiments showed sufficiently practical performance by the proposed guidance method.