Development of A Mobile Robot pulling An Omni-directional Cart for A Construction Site

We have been researching a mobile robot that pull a cart with equipment to improve productivity at construction sites. In this field of research, a cart having front wheels as swivel wheels and rear wheels as rigid wheels have been used. How- ever, at the construction site, in many cases, wheels of a cart have only swivel wheels in order to easily transport them in a narrow space. We aimed to be able to transport a minimum width of 1200 mm by pulling this cart by a robot. However, when this cart is pulled using a simple 1-axis connection, there is no guarantee that a cart will follow the same trajec- tory as a robot. For example, a cart will move significantly out of the trajectory of a robot as it turns a curve. At this time, it is expected that a cart will collide with the building under construction or the materials placed on the site. This paper describes the results of a theoretical and experimental confirmation of the features of a cart and examination of its solution.