シームレスで柔軟な屋内外走行を実現するパーソナルモビリティの半自律制御システムの開発

抄録

As the demand for personal mobility (PM) increases, studies on autonomous control systems enabling efficient and safe movement are advancing. In this study, we developed a semi-autonomous control system that allows for flexible switching between automatic and manual driving and enable seamless indoor/outdoor driving. The system achieves autonomous driving using global and local path planning, and autonomous navigation in indoor/outdoor environments through partitioning and floor movement detection. To enable an operator intervention, the system incorporated sub-systems for switching between automatic and manual drivings by button inputs, and augmenting the output of the automatic system through joystick operation (override). The results of the subject experiments confirmed that the proposed system was effective for comfortable mobility.