牽引ユニットと非駆動型移動ロボットを用いた広域探査システムの原理検証

抄録

In this study, we propose a wide area exploration system that combines multiple winch units and passive mobile robots. Passive mobile robots loaded with exploration sensors are driven by a pulling force from the winch unitts and can steer by controlling brakes attached to their wheels. By adjusting the wire length, the passive mobile robot is pulled within the exploration area, and controls the brake torque of the wheels to follow the desired trajectory. We describe the range that can be searched by a passive mobile robot, which changes depending on the deployment of the winch units. In addition, we conduct an outdoor experiment using the principle verification model of the proposed system, and confirmed the effectiveness of this system.