2A1-D01 Development of autonomous running method for a wheeled mobile robot in uncertain three-dimensional including a slope

Abstract

We have been developed an autonomous running method for a wheel mobile robot in an uncertain 3D world including a slope plane. The developed new robot is an autonomous type which is able to run on two wheels and mount an ultrasonic sensor and a PSD (Position Sensitive Detector)sensor, but without a visual sensor. And, this robot can be identified its self-position with a dead reckoning by wheels. Then, the recognition and the running method for an uncertain slope plane with ultrasonic sensor without run off the slope by recognizing for a step of slope edge with the PSD sensor was developed. Therefore, the path-planning algorithm to direct the robot to a goal while avoiding obstacle in an uncertain world including a slope plane could be developed.