抄録
This paper describes the developed an autonomous running method for a wheeled robot which is able to run on a slope plane in uncertain three-dimensional world including a spiral slope. 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. The robot can run to the destination while presuming three dimensions and the self-position with a dead reckoning and recognizing the environment in an uncertain 3D world including the slope.
