抄録
We developed an autonomous target-following robot, under complicated environment which includes various shaped obstacle. Its special features are, the simple algorithm which doesn't use map data nor position identification, the deformed body shape to be long backward for taking baggage, using ultrasonic sensor as the primary sensor for reducing cost. We optimized the ultrasonic sensor positions and improved trajectory generation algorithm; therefore, it was achieved that the robot implements target-following with obstacle avoidance under the limited complicated environment. Moreover, it was confirmed by experiment.
