複数のLiDARを用いた自律移動ロボットの開発および障害物回避動作の実装

抄録

Using 2D LiDAR data, an obstacle avoidance program was developed and implemented on an autonomous mobile robot in a real-world environment. By sensing obstacles that appeared in the direction of movement and considering the safety factor of the left or right side, the robot was able to determine which side of the obstacle to avoid and perform autonomous driving. In addition, the power supply to the motor, control board, and sensors was unified to improve reliability during running. After these implementations, experimental public road runs were conducted. This autonomous mobile robot in this study was able to successfully run for a distance of approximately 2 km. This result demonstrates the improvement of the robot's autonomous mobility and obstacle avoidance capabilities.