Abstract
In previous paper, authors have been conducting the research on stair climbing 8 wheels robot vehicle "Octal Wheel". This robot was used reverse-phase four-wheel steering (4WS) mechanism and operated by the manual using the remote controller. The reverse-phase 4WS has the feature that the inner wheel difference does not occur. In order to easily operate the robot vehicle with three-dimensional space including the stairs by anyone, this robot is required autonomous mobile ability. For this reason, this paper attempts an autonomous mobile at level ground as the first stage. In other previous study, authors proposed the self-localization system using the LRF and the map, and the lateral guiding method SSM for the reverse-phase 4WS vehicle. "Octal Wheel" is installed those methods. However, the self-localization system achieves without odometry and other sensor data. The experiment is autonomous mobile in 3m width indoor corridor environment by "Octal wheel". The experimental result shows in autonomous mobile without contacting with other obstacles. And the following error is under 0.05m at the straight way points line.
