Prototyping Using a Mobile Robot Platform Equipped with Low-End In-Wheel Motors

Abstract

In the near future, autonomous mobile robots are expected to operate effectively in various locations, such as in living spaces as well as industrial establishments. Against this background, a new autonomous mobile robot platform was designed and prototyped in this research. For simplicity of design and easy assembly of the drive units, a robot with two low-end in-wheel motors is considered. It is also effective in saving space, and can be used for high-power operations and travelability in various road surface conditions. This paper presents a concept for developing a new type of autonomous mobile robot platform, its control system for autonomous operation, actual prototyping using this platform, and sample applications of this platform.