Development of an Autonomous Mobile Robot to Transport Heavy Objects on Narrow Allays and Steep Slopes

被引：0

作者：

Kanazawa Y. ^{[1
]}

Li P. ^{[1
]}

Zhu C. ^{[1
]}

机构：

[1] Maebashi Institute of Technology, 460-1, Kamisadori, Gunma, Maebashi

来源：

IEEJ Transactions on Industry Applications | 2024年 / 144卷 / 06期

关键词：

2D-LiDAR; autonomous driving; mobile robot; narrow allays; steep slopes; transportation;

D O I：

10.1541/ieejias.144.484

中图分类号：

学科分类号：

摘要：

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 450 kg, is driven by four 650 W 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. © 2024 The Institute of Electrical Engineers of Japan.

引用

页码：484 / 493

页数：9

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