全方向移動ロボットによる三次元プラグインドッキング動作制御に関する研究

抄録

In general, the autonomous robots charge their batteries by using exclusive docking stations. However, these robots's operating range are limited around charging station's area and it takes cost each time to set up a new charging point. In previous researches, to solve those problems, we suggested a new charging method called “Plugin-docking system” that inserts charging plug into outlet directly with three-dimensional control with Omnidirectional Robot. In this paper, we designed Docking results detection system, described re-docking motion and performed the experiment using the prototype to verify new system performance. It was found that Plugin-docking system could automatically detect docking results, executed re-docking motion each failed times and achieved higher docking success rate.