災害対応のための人追従型自律ローバーの縦列走行の実現

抄録

This research proposed to develop a rover system that follows a human and runs in a platoon for the disaster response. In the case of this system, we need non-collision route planning avoidance actions to prevent collisions and know the route accurately. In this paper, we developed a system that uses a flocking algorithm to prevent collisions and ROS Topic from sending the front rover or human’s position, velocity, and angle information. At the same time, we search the appropriate frequency for following and platooning in the simulation test. As a result, we realize a rover-following and running in a platoon with four or more rovers and automatically return to the starting point with three or more rovers in the simulation test. In an actual machine test, we realize a human following and running in a platoon with two types of rovers and return to the starting point automatically with a rover. In addition, we find the appropriate frequency. As a result, the frequency is about 5Hz.