豚舎洗浄ロボットの安全な隔柵沿い自律走行に関する研究

抄録

A robot to wash pig beds is a kind of mobile manipulators since the robot consist of a mobile base and a manipulator with the water discharge function. Usually, the corridors in Japanese pig houses are very narrow for the size of the mobile manipulator. Therefore, it is very important for the robot to move safely while avoiding collisions to the lined bars. This paper discusses the lined bars following method of a mobile manipulator by using laser range scanners.