道案内ロボットのための距離誤差の少ない経路追従手法の開発

―実機による検証―

抄録

We propose a path tracking method with small distance error for guide robot. In the previous report, we compared the tracking performance with the other methods in a simulation environment. In this paper, we implemented the method to a real robot and compared the performance with the pure pursuit. We measured the distance error from the path in two aspects, the odometry-based and the real-observation-based, and the results showed that the proposed method had smaller distance error than the pure pursuit. Moreover, the angle error of the proposed method at the destination point was also less than that of pure pursuit. The three processes introduced in the proposed method gave this improvement.