抄録
This paper describes a development of a robot cart platform for intelligent personal mobility. Recently, a lot of personal mobility has been used by aged and handicapped people. Intelligent mobility provides safer and more convenient transfer service such as driving support and automatic transfer. It is necessary to develop a platform equipped with sensors and electronic devices intelligent navigation functions. In this paper, we describe the hardware components and the software configuration of the robot platform. The navigation system, including the functions of localization using grid map matching, path following, and obstacle avoidance, is implemented on the proposed robot platform. We also present the results of an open-field experiment in Tsukuba Challenge 2011 and evaluate the proposed systems.
