インホイールモータを採用した中型サイズ自律移動ロボットの機構と制御

抄録

In the near future, autonomous mobile robots are expected to operate in various locations, such as in living spaces as well as in industrial establishments. Based on this principle, a new autonomous mobile robot was designed and prototyped in this research. The robot consists of two in-wheel motors for the sake of simplicity of the design and assembly of the drive units. It is also effective in space-saving, and for high power and flexible control for various road surface conditions. This paper presents the concept for developing a new type of autonomous mobile robot, its control system for autonomous operation, and its driving experiments to verify the autonomous traveling performance.