This paper proposes a navigation system of a personal mobility robot in informationally structured and unstructured environments. First, we introduce a group of robots named Portable Go, which are equipped with laser range finders, gyros, and omni-directional wheels. The Portable Go robots expand the informationally structured environment by deploying in the informationally unstructured environment in advance. Then, a personal mobility robot based on an electric wheelchair is guided by eleven Portable Go robots in the new informationally structured environment which is just created by the Portable Go robots. Through navigation experiments, we verify that the proposed system navigates the personal mobility robot from the informationally structured environment to the informationally unstructured environment smoothly by using the Portable Go robots.

中文翻译：

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开发用于在信息结构化和非结构化环境中导航的移动传感器终端“ Portable Go”

本文提出了信息结构化和非结构化环境下的个人移动机器人导航系统。首先，我们介绍了一组名为Portable Go的机器人，它们配备了激光测距仪，陀螺仪和全向轮。Portable Go机器人通过预先在信息非结构化环境中进行部署来扩展信息结构化环境。然后，在新的信息结构化环境中，由11个Portable Go机器人引导基于电动轮椅的个人移动机器人，而该环境只是由Portable Go机器人创建的。通过导航实验，我们验证了所提出的系统通过使用Portable Go机器人将个人移动机器人从信息结构化环境顺利导航到信息非结构化环境。