Baggage transportation and navigation by a wheeled inverted pendulum mobile robot

Toshinobu Takei; Ryoko Imamura; Shin'ichi Yuta

doi:10.1109/TIE.2009.2027252

Baggage transportation and navigation by a wheeled inverted pendulum mobile robot

Toshinobu Takei, Ryoko Imamura, Shin'ichi Yuta

Department of Electrical Engineering

Research output: Contribution to journal › Article

84 Citations (Scopus)

Abstract

Our goal is to configure an automatic baggage-transportation system by an inverted pendulum robot and realize a navigation function in a real environment. The system consists of two cooperative subsystems: a balancing-and-traveling control subsystem and a navigation subsystem. Position errors of the inverted pendulum robot are often caused by a drift error in the gyro sensor and a change in the center of gravity by a loaded baggage when applying the linear state feedback control method for balancing and traveling. We have reduced the position errors for navigation by resetting the balance position occasionally while traveling with simple methods without an external observer or alternative sensors. In this paper, we state the method and show the experimental results of navigation in a real environment by the implemented robot system.

Original language	English
Pages (from-to)	3985-3994
Number of pages	10
Journal	IEEE Transactions on Industrial Electronics
Volume	56
Issue number	10
DOIs	https://doi.org/10.1109/TIE.2009.2027252
Publication status	Published - 2009 Oct 8

Keywords

Baggage transportation
Compensation of posture errors
Navigation
Wheeled inverted pendulum mobile robot

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/TIE.2009.2027252

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Takei, T., Imamura, R., & Yuta, S. (2009). Baggage transportation and navigation by a wheeled inverted pendulum mobile robot. IEEE Transactions on Industrial Electronics, 56(10), 3985-3994. https://doi.org/10.1109/TIE.2009.2027252

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