かご台車を整列配置するための自律搬送ロボットの移動制御方法

―差動２輪移動方式の拘束条件を考慮した経路計画―

抄録

In recent years, with progress of automation in logistic center, AMRs(Autonomous Mobile Robots) are introduced to solve labor shortage and improve work efficiency. We are developing AMR which can be applied for roll box pallet transportation and alignment in logistic center. The utilization of mecanum wheels makes AMR omnidirectional and AMR is able to move freely in narrow space. However, when AMR transports roll box pallet, for safety, AMR keeps casters of roll box pallet on the ground. Which makes AMR has to follow two differential wheel movement of carried roll box pallet. In this paper, we propose a method of planning trajectory for AMR under the constraint of two differential wheel movement while aligning roll box pallet.