オフロード走行用のローラ・クローラ型全方向移動ロボット

抄録

This paper presents an Omni Directional Mobile Robot which can run on off road and run over an obstacle. The robot is constructed with four crawler-roller-motor-units and called "roller crawler-type of omni-directional mobile robot". Each crawler-reller-motor-unit can be driven independently and the motion of the robot can be controlled by the speed of motors. We also designed a position and velocity control system for the robot. The robot can be automatically controlled to run in optional direction and to track an orbit. The efficiency of the mechanism and the control method has been verified by many practical running tests and computer simulations.