1A1-C30 ICタグ環境を利用した移動ロボットの誘導と制御

抄録

This paper proposes the method to navigate and control a mobile robot using the environment informationized by written data in IC tags. The method has the following features: 1) Position and heading of the robot are estimated from positions of two IC tags. 2) The shortest route to a destination is found by the Dijkstra method between areas that are the feature places, such as an intersection and the front of door, numbered to IC tags. 3) The invisible guiding path for a mobile robot is formed by the potential vector written in IC tags. 4) The driving direction is calculated by the composition of the destination direction and the potential vector. The effectiveness of our method is clarified by several experimental results.