2P2-E27 独立駆動双輪旋回台車による全方向移動ロボットの走行制御

概要

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The robot is assumed to use in a narrow house for transfer of aged person and materials. The vehicle control is based by the dead reckoning, because, the destination and its route are decided beforehand. The largest advantage of the vehicle is no steering gear. It can be realized in four bogies which turn around the free turning axis with self steering by rotating angle difference of facing twin independent drive wheels. This paper proposes the V-formed marker with crossing two edges such as the ear of the spear. We can be simultaneously given three information, position, orientation and running direction of the vehicle body. The quantities of the state can be sensed by detection of the marker edge with three photo sensors placed in the hook. The intermittently running control system was constructed by the sensing sysyem and the error correction method by circular arc orbit.
一般社団法人日本機械学会の論文