滑りやすい壁面で移動する２輪ロボットの軌道優先型補償の検討

抄録

This paper reports a compensator giving priority to desired trajectory for a dual-wheeled robot running on a slippery wall. Some simulation results demonstrate that a well-known nonlinear tracking control is verified under the non-slippery condition, and is not accomplished under the slippery condition. Simulations show that a proposed compensator is effective against the return to the desired trajectory when the robot encounters a slippery area.