車体傾斜機構を有する全方向移動ロボットの走行制御に関する研究 : 傾斜地における車体水平化・経路追従制御法

概要

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This paper presents a motion control method for a nonholonomic omnidirectional vehicle moving on undulating area. The vehicle has four wheel units, each of which is equipped with a nonholonomic mobile base and a chassis tilting mechanism with 1 DOF active prismatic joint and 3 DOF free rotary joint. The motion control system consists of chassis-unit controller and wheel-unit controller; the chassis-unit controller decides the desired motion of the vehicle, while each of wheel-unit controllers controls its own mobile base and chassis tilting mechanism to produce the desired motion of the vehicle. A path-tracking controller in the chassis-unit controller is designed based on the Ackerman geometry. The wheel-unit controller is designed based on the resolved velocity control method. The proposed control method makes it possible to keep the chassis in a horizontal position while the vehicle tracking its prescribed path on undulating area. Experimental results validate the effectiveness of the control method.
社団法人精密工学会の論文
2004-07-05