移動探査ロボットの群制御による探査の効率化に関する研究

災害不整地環境における半自律軌跡追従動作の実施

抄録

When a disaster has occurred, it is very important to search quickly and accurately at the wide disaster area. It is efficiency to investigate using multiple mobile search robots at the disaster area. Accordingly, we focused cooperative cruising in the disaster environment and propose the trajectory tracking control method with semi-autonomous search robots. We apply to the new operating system using ROS to execute the trajectory tracking control with UMRS2009. In this paper, we show about the trajectory tracking control using gravity potential method and results of cooperative cruising experiment in disaster environment.