| 203C4 |
|---|
| Motion Control of Wheeled Robot Vehicle on Unknown Rough Surface |
| AUTHORS |
| Kenji Miyazaki, Takatoshi Norimathu , Makoto Wada , Masahiro Oya (Kyushu Institute of Technology) Toshinori Suehiro (Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center) |
| ABSTRACT |
| The motion control of wheeled robot moving on rough surface has received considerable attention. However,¡¡as for the authors known, motion control schemes without using prior information of unknown rough surface are very few. In this paper, we propose a motion control schemes without using prior information of unknown rough surface. Rough surface can be recognized to have many waves with various frequencies in general. According to the notion, it follows that if each wheel is controlled so as to move up and down along high frequency elements of unknown rough surface, the following good properties can be realized. ¡ We can reduce the risk that loads are damaged caused by terrible vibration and drop down.¢ Even if the position of gravity is high, the wheeled robot is hard to turn over. Using the information from accelerometers mounted on each wheel axis, it is shown that high frequency elements of unknown rough surface can be estimated. Then, a trajectory tracking controller achieving the good properties ¡,¢ is proposed. |
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Annual Conference 2002