Simulation of Running Trajectory and Analysis of Actual Behavior during Luggage Transportation by Crawlers

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  • クローラによる荷物搬送時の走行軌跡シミュレーションと実挙動の解析

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<p>Mobile robots have been applied to transporting cargos, and we are studying our crawler robots for that purpose. It is difficult to control traction of a crawler robot accurately because the amount of slips during a turn strongly depends on the running environment. Therefore, we have introduced the simulation taking into account road surfaces and cargo’s weight and compared the simulated results with the actual trajectories of a robot. The outcomes show that the simulated trajectories and the actual trajectories had similar tendency, but we found that the directions of casters on a cart effected the differences. We will improve the accuracy of the simulation by including this casters direction effect in the future.</p>

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