レーザレンジファインダを用いたガイドレスな AGV の開発に関する研究

抄録

The purpose of this research is to develop an AGV (Automatic Guided Vehicle) which has high accurate position control and mapping using a laser rangefinder. Recently, some factories are introducing AGVs in order to respond flexibly to a variety of conveyance request. Generally, a method of driving an AGV is using markers, wires or magnets. We manufactured an AGV which do self-location estimation by using a laser rangefinder without markers, wires or magnets. The AGV consists of a servo driver, AC servo motors, two batteries and a laser rangefinder. On this study, we have created a map of the experimental environment with SLAM (Simultaneous Localization and Mapping). The AGV performed the self-position estimation using a created map and it could move autonomously from a start position to an end position that we set in advance. We aim to improve the accuracy the AGV move by Spline interpolation.