Baggage transportation and navigation by a wheeled inverted pendulum mobile robot

Toshinobu Takei, Ryoko Imamura, Shin'ichi Yuta

研究成果: Article査読

93 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)3985-3994
ページ数10
ジャーナルIEEE Transactions on Industrial Electronics
56
10
DOI
出版ステータスPublished - 2009
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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