TY - JOUR
T1 - Baggage transportation and navigation by a wheeled inverted pendulum mobile robot
AU - Takei, Toshinobu
AU - Imamura, Ryoko
AU - Yuta, Shin'ichi
N1 - Funding Information:
Manuscript received June 15, 2008; revised July 1, 2009. First published July 21, 2009; current version published September 16, 2009. This work was supported by the Intelligent Robot Laboratory in the University of Tsukuba, Japan.
Copyright:
Copyright 2009 Elsevier B.V., All rights reserved.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Baggage transportation
KW - Compensation of posture errors
KW - Navigation
KW - Wheeled inverted pendulum mobile robot
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U2 - 10.1109/TIE.2009.2027252
DO - 10.1109/TIE.2009.2027252
M3 - Article
AN - SCOPUS:70349628412
VL - 56
SP - 3985
EP - 3994
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 10
ER -