Study on traveling control of the autonomous mobile robot using an indoor environmental map

摘要

In this paper, a developmental procedure of the autonomous mobile robot DREAM-3 is described. The DREAM-3 a mobile robot typed as an electrically driven wheel chair. The aim of DREAM-3 is to make it travel in indoor environments and/or welfare facilities for their practical use and serve to care for old people and physically handicapped person. This mobile robot is the second version of our autonomous mobile robot DREAM 2 The DREAM-3 inherits good characteristics of DREAM-2. Also, the problems caused in DREAM-2 are solved and their improvement is utilized for DREAM-3. In the DREAM-3, an environmental map with indoor map information is loaded. This map plays an important role for determining the robot position accurately and for its stable traveling.