画像情報を利用した2輪駆動型ロボットの制御

抄録

Considering the problem to let a robot move to a given position, we have to decide an appropriate path and control the robot so as to follow the decided path. For the former, many researches have been reported until now. But, for the latter, enough discussion has not been done. In this research, we propose a path following control strategy based on the observer based regulator using image imformation from CCD camera. Our controlled object is a two wheeled moving robot. First, we derive a state space model taking account of the dynamics of both actuators and the robot. Next, we design a controller based on the modern control theory. And we confirm the validity of our strategy via simulation and experiment.