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JRM Vol.27 No.4 pp. 337-345
doi: 10.20965/jrm.2015.p0337
(2015)

Paper:

Development of Autonomous Mobile Robot Using Articulated Steering Vehicle and Lateral Guiding Method

Shinya Ohkawa, Yoshihiro Takita, Hisashi Date, and Kazuhiro Kobayashi

Department of Computer Science, National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

Received:
February 3, 2015
Accepted:
April 20, 2015
Published:
August 20, 2015
Keywords:
mobile robot, articulated steering vehicle, lateral guiding method, Real World Robotics Challenges
Abstract
Autonomous robot “AR Chair”

This paper is discusses an autonomous mobile robot entered in the Real World Robotics Challenges 2014 (RWRC) in Tsukuba. Our project was to develop a wheelchair able to navigate stairs autonomously. Step 1 develops a center articulated vehicle, called the AR Chair, which has 4 wheels and a controller including LIDARs. The center articulated vehicle has a stiff structure and travels with the front and rear wheels on the same path, so there is no inner wheels difference. The robotic vehicle carries users weighing up to 100 kg. The autonomous controller is the same as the Smart Dump 7 combined with the RWRC 2013 to achieve the challenge, excluding the geometrical relationship of the steering angle and communication command for motor drivers to the AR Chair. The advantage of the robot is shown by experimental data from the RWRC 2014’s final run.

Cite this article as:
S. Ohkawa, Y. Takita, H. Date, and K. Kobayashi, “Development of Autonomous Mobile Robot Using Articulated Steering Vehicle and Lateral Guiding Method,” J. Robot. Mechatron., Vol.27, No.4, pp. 337-345, 2015.
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