クアッドロータ推進車輪型移動ロボットにおけるピッチ角と並進移動速度制御

抄録

This paper describes about the pitch angle and moving velocity control of a quadrotor propulsion wheeled mobile robot for the purpose of the application to the inspection of the social infrastructures. This quadrotor propulsion wheeled mobile robot can be possible to climb not only the obstacle, but also the wall surface and the ceiling. The dynamics of attitude of the robot is simply modeled by considering only pitch rotational angle in this paper. Adopting optimal servo control system in order to control the pitch angle and the moving velocity of mobile robot, theoretical and experimental verification were performed by using experimental equipment.