JAUSを用いたウェイポイントナビゲーションベース移動ロボットの遠隔制御システムの開発

中村 亮太
Waypoint navigation is one of the fundamental and important functions of an autonomous mobile robot. In waypoint navigation, when destination point and waypoints are determined, the mobile robot moves autonomously and safely without colliding with obstacles. Depending on the surrounding obstacles change due to movement, it may be necessary to change predefined waypoints during waypoint navigation. This study aims to propose a new waypoint navigation-based mobile robot that can change
more » ... e waypoints remotely during the waypoint navigation. To realize such functions, we have developed a JAUS-based controller for remote control. The validity of the proposed approach has been demonstrated using simulation and a real JAUS implementation to our developed mobile robot.
doi:10.15002/00022933 fatcat:vdlosboyknbyhopg3q67npwlai