2輪独立駆動型移動ロボット車におけるスリップ判別モデルの導入

抄録

A two-wheeled independent drive mobile robot vehicle can be represented as a simple model for nonlinear control, and a trailer model can be considered by connecting these two vehicles. However, it is often treated as a static model, and dynamic inertia problems are rarely considered. In particular, it is important to consider slippage, which can lead to jackknife problems in trailers. In this study, a method of applying the discriminant equation based on the conventional steering wheel model to two-wheeled independent drive mobile robot vehicles based on a non-holonomic system is investigated for slip discrimination.