自律移動車輪型ロボットの実際位置に関する軌道追従制御 : 第1報,レーザ燈台測定システムによる推定姿勢角度の修正を行った場合の軌道追従制御特性

概要

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The purpose of this work is to realize highly accurate trajectory tracking control of a real position for a wheeled mobile robot (WMR). The authors have been conducting a dynamical study of a theory on trajectory tracking control based on kinematics for WMR. This tracking theory has been proven in the estimated environment using an internal sensor (similar to an encoder). In this paper, in order to apply the aforementioned theory in a real environment, an extended theory of trajectory tracking control is proposed. All of the estimated parameters (directional angle, velocity, position) of WMR are modified at short sampling time using real position data measured by external sensors. We conducted experiments using a laser beacon measuring system as external sensors and found that this extended theory provides satisfactory results in terms of accuracy of trajectory tracking.
社団法人日本機械学会の論文
1995-03-25