학술논문
140 Development of A Control method for Mobile Robot Traveling over Unknown Rough Surface / 140 移動ロボットの未知不整地地面走行手法の開発
Document Type
Journal Article
Author
Source
The Proceedings of the Dynamics & Design Conference. 2003, 1
Subject
Language
Japanese
ISSN
2424-2993
Abstract
When wheeled mobile robots run fast on the rough surface, the devices loaded on the body are affected by the body acceleration and may be destroyed. In this paper, we propose a method to reduce the body acceleration of wheeled mobile robots. A method to design ideal model achieving small body acceleration is shown. The information from accelerometers mounted on each wheel axis is used in the ideal model. Next, a robust model tracking controller is proposed. The efficiency of the proposed controller has been verified by experiments