Baggage transportation and navigation by a wheeled inverted pendulum mobile robot / Takei, Toshinobu in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3985 - 3994 Titre : Baggage transportation and navigation by a wheeled inverted pendulum mobile robot Type de document : texte imprimé Auteurs : Takei, Toshinobu, Auteur ; Imamura, Ryoko, Auteur ; Yuta, Shin'ichi, Auteur Article en page(s) : pp. 3985 - 3994 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Baggage transportation Compensation of posture errors Navigation Wheeled inverted pendulum mobile robot Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : 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. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5170096 [article] Baggage transportation and navigation by a wheeled inverted pendulum mobile robot [texte imprimé] / Takei, Toshinobu, Auteur ; Imamura, Ryoko, Auteur ; Yuta, Shin'ichi, Auteur . - pp. 3985 - 3994. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3985 - 3994 Mots-clés : Baggage transportation Compensation of posture errors Navigation Wheeled inverted pendulum mobile robot Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : 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. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5170096

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