複数台全方向移動ロボットの相互位置推定における路面の影響について

抄録

In this paper, we described the development of an object moving robot at a construction site using the mutual position estimation method of multiple omnidirectional mobile robots using only internal sensors. Today’s material transportation requires multiple personnel and is a repetitive and frequent task. To solve this problem, multiple small robots are used for transportation. By properly moving each robot restrained by the material by hand, mutual position estimation between the robots becomes possible, and it is possible to move by operating the controller. In this paper, we conducted an experiment to estimate the mutual position between the robot and the center of rotation using an internal sensor, and verified how the accuracy is affected by the difference in the road surface.