坑内自動運搬車両のための壁面接触を利用した高速走行法

―ロングレンジ距離センサの追加による壁面障害回避性能の向上―

抄録

To increase the speed of transporting vehicle used in underground narrow roads, our research group is developing a differential four-wheel vehicle that allows contacts between a wall and roller bumpers. While wall contacting driving, large concavity and convexity of a wall have a large impact on the safety. Therefore, it's important to improve the detecting and avoiding performance. In a previous study, wall contacting driving method has been developed using one-tenth scale model, but it could not realize the avoidance of wall convexity and concavity in high-speed and sharp curved course. To realize the target capability, this study conducts an experiment using a modified scale model that has another distance sensor. The experimental results demonstrate the basic feasibility on the target capability.