In this paper, we discuss the trajectory control for the wheeled inverse pendulum type mobile robot. The robot in this consideration has two independent driving wheels in same axle, and the gyro type sensor to know the inclination angular velocity of the body and rotary encoders to know wheels' rotation. The purpose of our work is to make the robot autonomously navigate in two dimensional plane while keeping balance its own body. The control algorithm consists of three parts; the balancing and velocity control, the heading control, and the trajectory control part. We designed and implemented vehicle command system for this robot with proposed algorithm. And the experiments of real world navigation have been made by our experimental system 'Yamabico Kurara'.
|出版ステータス||Published - 1994 12 1|
|イベント||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger|
継続期間: 1994 9 12 → 1994 9 16
|Other||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)|
|Period||94/9/12 → 94/9/16|
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