自律四輪バギー車におけるワイヤ巻き取り式操舵装置の開発（テンションオブザーバの設計と検証）

概要

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There is an increasing demand on developing autonomous mobile robots for field survey activities to save working hours, work force and workers' health. We have chosen a commercially available ATV as the base of the autonomous vehicle and developed several devices for throttle control, brake control, and speed measurement. In this paper, a wire winding steering system is constructed and verified. The steering system consists of two wire winding devices. Each wire is attached to either side of the handlebar and provides a tension to rotate the handle toward one direction. The mechanism has a property of antagonism like the human muscle and skeleton structure. To control the steering angle and compliance properly and cooperatively, the measurement of the tension is necessary. In this paper, we also construct tension observer and verify the performance through experiments. As a result, we reached a conclusion that tension observer is able to estimate wire tension with a small error.