开发在窄巷和陡坡上运输重物的自主移动机器人

IF 0.4 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC

Electrical Engineering in Japan Pub Date : 2024-11-13 DOI:10.1002/eej.23482

Yuichiro Kanazawa, Peirang Li, Chi Zhu

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引用次数: 0

摘要

在这项研究中，我们开发了一种四轮驱动的自主移动机器人，用于在狭窄的小巷和陡峭的斜坡上运输重物。该机器人重达450公斤，由4台650瓦轮毂电机驱动，可以爬上20°的陡坡，并通过狭窄的小巷。安装在机器人身体前部和后部的两个2d激光雷达用于高精度驾驶。提出了一种利用窄巷侧壁的点云信息，基于最小二乘法估计机器人身体位置和姿态的方法。在测试路线上进行的现场实验表明，自主机器人可以在陡坡上运输重物，并在狭窄的小巷中以高精度行驶。

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

In this study, we developed a four-wheel-driven autonomous mobile robot to transport heavy objects on narrow alleys and steep slopes. The robot, which weighs 450 kg, is driven by four 650 W hub motors to climb 20° 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 the 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 could transport heavy objects over steep slopes and travel in a narrow alley with high accuracy.

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来源期刊

Electrical Engineering in Japan 工程技术-工程：电子与电气

CiteScore

0.80

自引率

0.00%

发文量

审稿时长

4-8 weeks

期刊介绍： Electrical Engineering in Japan (EEJ) is an official journal of the Institute of Electrical Engineers of Japan (IEEJ). This authoritative journal is a translation of the Transactions of the Institute of Electrical Engineers of Japan. It publishes 16 issues a year on original research findings in Electrical Engineering with special focus on the science, technology and applications of electric power, such as power generation, transmission and conversion, electric railways (including magnetic levitation devices), motors, switching, power economics.