インホイールモータ駆動型自律移動ロボットを用いた社会実装の試み

抄録

In the near future, autonomous mobile robots are expected to operate in various locations, such as in living spaces as well as in industrial establishments. In order to apply autonomous mobile robot technology to social implementation activity, the purpose of this research is to develop a control system for an autonomous mobile platform. The platform consists of two in-wheel motors for the sake of simplicity of the design and assembly of the drive units. It is also effective in three aspects: space-saving, high power and flexible control for various road surface conditions. To control autonomous running of the platform adequately, a trial sensor fusion system (with laser range finder, stereo camera and so on) was constructed. Preliminary experiment was performed to confirm the validity of the control system.