旋回時に自動で速度調整を行う移動ロボットの軌道追従制御

抄録

In this study, the tracking controller of a mobile robot is designed by using the method based on the time state control form and the image processing techniques. The proposed controller uses the relative position and angle of the robot with respect to the target trajectory which are computed from the images of a camera mounted on the robot. In the experiments, the trajectories of the robot were investigated when changing the control gains. The large gains in the rotational control input make the robot to turn rapidly and to lose sight of the target trajectory. Therefore, we propose to regulate the rotational velocity input automatically by adjusting the translational speed such that the rotational velocity is kept within the limit. By using the self-adjustment of the speed, the robot tracked on the target trajectory without missing the target.