抄録
Autonomous mobile robot for indoor aiming at alternative of human labor work has been studied by various researchers. However, since most of them are performing floor movement for transportation, they must inevitably consider disturbances on the floor, such as unpredictable obstacles and walking people. Therefore, their control must become complicated and such robot must carefully move at low speed. To solve such issues, here, we employ flight robot as a mobile robot, which can move in the air where disturbance is clearly less. Furthermore, we employ line-tracking methodology for automatic moving control, because its infrastructure installation is very simple, economical and feasible for various situations. This paper reports an automatic control method for flight robot by line-tracking with optical camera and its experimental results.
