Development of an Autonomous Moving System for a Work Robot with Omni-directional Moving Mechanism

Abstract

With the labor shortage, autonomous mobile robots are required to perform a variety of tasks. When we consider having an autonomous mobile robot perform tasks such as cleaning, maintenance, and inspection, it is assumed that the tasks will change depending on its own position. Therefore, it is difficult to perform the task effectively unless the robot knows its own position and posture with higher accuracy than in the case of simply moving. In this study, we are developing a robot that can move in all directions using a mecanum wheel. And also we are developping an autonomous movement system using a local path planning method that can determine the movement direction and posture independently to make effective use of the omni-directional movement mechanism, and a global path determination method that assumes that a non-expert person can set the path.