移動形態可変型二輪移動ロボットの動作計画

抄録

In recent years, with the development of automated driving technology, there have been reports of practical applications of automated delivery robots, which are four-wheeled robots driving on sidewalks. However, delivery robots should not be a cause of traffic congestion.Therefore, it is necessary to have a mobile robot that can run on the roadway at high speed, is small enough not to interfere with other vehicles, is maneuverable, and can reach the front door of the delivery destination.The currently proposed bicycle-type mobile robot has difficulty in maintaining its posture at low speed. On the other hand, the Segway-type mobile robot is extremely difficult to control at high speed.In order to develop a mobile robot that can transition between the bicycle type and the Segway type, a motion plan for a two-wheeled mobile robot with a variable mobile form was developed.