単純適応制御による車輪型移動ロボットのコーナリング走行抵抗変動に対するロバスト性改善

抄録

This study addresses the robustness for the speed control in order to adapt to various road surface condition the guide robot moving performance. The simple adaptive control method (SAC) was adopted to the moving speed perturbation depending on the running resistance when turning movement. The evaluation experiments were performed in order to compare the SAC control system with the variable gain and the PI control system with the fixed gain. The influence was considered by the difference in condition about the advance tuning of the SAC speed control system and the update of the adaptive gain. It was confirmed that to achieve the compensate to the degraded moving performance when turning movement by sequentially updating the gain.