Baggage Transportation and Navigation by a Wheeled Inverted Pendulum Mobile Robot
Takei, T.
Imamura, R.
Yuta, S.
Field Robot. Res. Group, Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct. 2009
Volume: 56,
Issue: 10
On page(s): 3985-3994
ISSN: 0278-0046
INSPEC Accession Number: 10869383
Digital Object Identifier: 10.1109/TIE.2009.2027252
First Published: 2009-07-21
Current Version Published: 2009-09-15
Abstract
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.
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