Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 56, Issue 10, Pages 3985-3994Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2009.2027252
Keywords
Baggage transportation; compensation of posture errors; navigation; wheeled inverted pendulum mobile robot
Categories
Funding
- University of Tsukuba, Japan
Ask authors/readers for more resources
Our goal is to configure an automatic baggage-transportation system by an inverted pendulum robot and realize a navigation function in a real environment. The system consists of two cooperative subsystems: a balancing-and-traveling control subsystem and a navigation subsystem. Position errors of the inverted pendulum robot are often caused by a drift error in the gyro sensor and a change in the center of gravity by a loaded baggage when applying the linear state feedback control method for balancing and traveling. We have reduced the position errors for navigation by resetting the balance position occasionally while traveling with simple methods without an external observer or alternative sensors. In this paper, we state the method and show the experimental results of navigation in a real environment by the implemented robot system.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available