ワイヤ牽引システムと非駆動型ロボットを用いた広域探査システム

抄録

In this study, we propose a wide area exploration system that combines wire towing system and passive mobile robots. Passive mobile robots loaded with exploration sensors are driven by a pulling force from wire towing system and can move to desired location by steering control. In this paper, we expand the search range by increasing the number the towing units, derived the explorable range that the passive mobile robot can be explored, and verify the explorable range by experiments. In addition, we propose a method of round-trip trajectory and verify its effectiveness by experiments.