単一物体を搬送する二台の移動ロボットによる機能分散型障害物回避アルゴリズム

—視覚センサによる環境情報の利用—

抄録

We propose a collision avoidance algorithm for the leader-follower type of two tracked mobile robots transporting an object in coordination. The collision avoidance is realized by using the information of the omnidirection visual sensor which is mounted on the follower robot. We will illustrate the experimental results of the obstacle detection which we propose in this article.