抄録
Recently, autonomous mobile robots for object transportation have been applied in a typical environments such as plants or factories. In this research, trailer vehicles are focused on because they can dump a lot of objects for the transport task. The trailer robots, however, are difficult to control their motion because the load of objects is variable and running resistance is occurring by mechanical constraints. Thus, most of conventional researches for the trailer robot have considered the kinematics, and few researches focus on the running resistance or dynamical disturbance. Therefore, in this paper, we propose a control scheme for the trailer vehicle with estimation of the running resistance. Further, for the practical experiments, the trailer vehicle is developed.
