Study on Measurement of Relative Position and Direction of Transfer Robot and Transfer Object in Omni-directional Coordinated Conveyance System

Abstract

In recent years, automation is being promoted in the medical field. However, conventional research has problems such as being costly and Using robots have difficulty moving left and right and changing direction. To solve these problems, we propose Omni-directional coordinated conveyance system using mobile robots. This system can be freely connected and disconnected from the transfer object. In this study, corner point detection is performed using information on the transfer object acquired by 2D LiDAR and distance differentiation data between the transfer robot and the transfer object. Then, by performing corner point matching with Multi-step Minimum Error Search, estimates of the robot’s relative position and direction are output. Experiments confirmed that it is possible to output estimates of the robot's relative position and direction when scanning the cart by performing corner point matching using Multi-step Minimum Error Search. We also confirmed issues with the output results.