加速度センサを用いた振動検出によるファジィ推論に基づいた自律移動ロボットの速度制御

抄録

This paper proposes velocity control system which enable a robot to reduce vibration by decelerate before moving over an irregular terrain. Conventional vibration control methods obtain effect after receiving vibration, so that it cannot deal with impulsive vibration. Therefore, just as humans decelerate before moving over the irregular terrain, the robot needs to decelerate before receiving vibration. At first, fuzzy inference calculates an appropriate velocity from detected vibration and current velocity. Then, recording estimated velocity in the environmental map, the robot can predict the position of the irregular terrain and decelerate in advance. Effectiveness of proposed system is confirmed by the autonomous moving experiment in a real environment.