狭路および急勾配で重量物を運搬する自律型搬送ロボットの開発

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2024/06/01

タイトル(英語): Development of an Autonomous Mobile Robot to Transport Heavy Objects on Narrow Allays and Steep Slopes

著者名: 金澤　雄一朗（前橋工科大学），李　沛譲（前橋工科大学），朱　赤（前橋工科大学）

著者名(英語): Yuichiro Kanazawa (Maebashi Institute of Technology), Peirang Li (Maebashi Institute of Technology), Chi Zhu (Maebashi Institute of Technology)

キーワード: 移動ロボット，自律走行，搬送，2D-LiDAR，狭路，急勾配　　mobile robot，autonomous driving，transportation，2D-LiDAR，narrow allays，steep slopes

要約(英語): In this study, we developed a four-wheel driven autonomous mobile robot to transport heavy objects on narrow alley and steep slopes. The robot, which weighs 450kg, is driven by four 650W hub motors to climb 20-degree steep slopes and travel through a narrow alley. Two 2D-LiDARs attached to the front and rear of the robot body are used for highly accurate driving. A method based on least squares approach for estimating the position and posture of the robot body is proposed by using the point cloud information of the side wall of the narrow alley. Field experiments on test courses demonstrated that the autonomous robot can transport heavy objects over steep slopes and travel in a narrow alley with high accuracy.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.144 No.6 （2024） 特集：2023年産業応用部門大会

本誌掲載ページ: 484-493 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/144/6/144_484/_article/-char/ja/