318 ディジタル加速度制御法による車輪型移動ロボットの経路追従制御

概要

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Wheeled mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. In previous studies, a lot of researchers have studied on the path-tracking for the wheeled mobile robots. So far, the rapid and accurate path tracking of the wheeled mobile robots is constrained by the problem of nonlinear friction in the wheels, center-of-gravity shifts and load changes caused by loads. To further improve the tracking performance, in this paper, we present a new motion control method for the wheeled mobile robot. Firstly a dynamics model that considers nonlinear friction, center-of-gravity shifts and load changes is derived. Then a control algorithm based on the digital acceleration control is proposed to compensate the nonlinear friction. Finally, the feasibility and effectiveness of the proposed digital acceleration control method are demonstrated by linear path tracking simulations.
一般社団法人日本機械学会の論文
2011-09-05