2P1-F12 移動ロボットにおける故障認識とナビゲーション

抄録

This paper describes trouble recognition and navigation of mobile robots. The distributed driving unit system of an omni-directional mobile robot is specially used for a navigation algorithm at trouble. The omni-directional mobile robot arrives at a target point even if its driving unit system has a breakdown. An experimental result shows effectiveness of proposed algorithm.