公転ステアリングに基づくアクティブメカナムホイールの非ホロノミック走行法

—サブホイールの接地角変動を利用した，不整地移動体の整地移動戦略—

抄録

In this paper, we introduce a traveling strategy that enables smooth movement on leveled ground using Active Mecanum Wheels(AMW) suitable for uneven terrain. The AMW, previously introduced, facilitates omnidirectional driving with two degrees of freedom, enhancing the mobility over rough terrain when employed in a mobile unit. However, this mechanism experiences fluctuations in the ground contact vector angles of its sub-wheels. We demonstrate that by deliberately leveraging these deviations, smooth movement can be achieved.