デジタルツインを活用した環境内の動的障害物を考慮した自律移動ロボットの走行支援システムの開発

抄録

In this study, a mobile robot navigation system is constructed using a digital twin. Robot positions and observations are shared via robot network and represented in the digital twin environment. Currently, two mobile robots and humans in the real world are represented in the digital twin. Especially, robot self-positions and the human position detected by robots using the RGB-D camera mounted on the robot are integrated in the digital twin. Then, path planning taking into account humans as dynamic obstacles in the digital twin is applied to the robot system in the real world.