狭路および急勾配で重量物を運搬する自律移動ロボットの開発

抄録

The purpose of this study is to develop a four-wheeled autonomous mobile robot for transporting heavy loads on a narrow alley of 1380mm width with a steep 20 ° slope and right-angle curves. The robot is driven by four wheels with hub motors in order to climb a steep slope with maximum load. In addition, for high-precision autonomous driving, one LiDAR is equipped on the front and rear of the vehicle respectively to acquire environmental information, and a self-positioning algorithm is developed. Further, verification experiments are conducted on two courses that simulate real conditions. As a result, we confirmed that the vehicle was able to climb steep slopes and drive autonomously with high accuracy on narrow alleys.