ラグ長可変車輪を有する複数の牽引型移動ロボットのフォーメーション制御

抄録

Exploring unknown areas, such as the ocean, planets like Mars, disaster sites and so on, is very important. But such areas are often dangerous and vast, so safer and more efficient methods are desirable. In this paper, we developed a land exploration system using multiple robots based on Leader-Follower type architecture. In order to operate robustly in complex conditions like rigid and soft ground, follower robots can transform its wheels to either circular wheels or lug wheels. In general, circular wheels are advantageous for rigid ground and lug wheels perform better when running on soft ground. Then, we conducted experiment using the developed robots, and verified the effectiveness of the system. Finally, we attempted to form a formation with multiple robots.