ICタグ環境を利用した移動ロボットの誘導と制御

―メカナムホイール移動ロボットによる実証実験―

抄録

We have presented the method to navigate and control a mobile robot under the environment informationized by IC tags so far. A robot can estimate the self-position based on coordinates written in the IC tags. Furthermore, the Dijkstra's algorithm derives a route by using the area number written in the IC tags. We used the omni-wheel mobile robot, but this paper uses the mecanum-wheel mobile robot. The mecanum-wheel robot is easier to go straight and to overcome a step than the omni-wheel robot. So, this paper experiments navigation and control using the mecanum-wheel robot with double antennas in the IC tag environment.