倒立振子型パーソナルトランスポータの隊列走行時の旋回制御システムのフィージビリティスタディ

抄録

The Inverted pendulum Personal Transporter (PT) is getting familiar in Japan and other countries for sightseeing and security purposes. When sharing PTs in a large complex such as an airport or a shopping center, PT may be randomly distributed according to their usage, so an efficient method of moving PTs is required. Conventional one PT require one crew, and it is necessary to have sufficient number of crew members to move multiple PTs. The purpose of this study is to develop a control algorithm that enables the following PTs to maintain their formation and follow the preceding PT when it moves in an arbitrary trajectory using simulation. In this paper, in addition to the vehicle model and control method of the PT proposed in the previous study, the control logic of the two-wheel model to follow the preceding PT is added and examined. In addition, we evaluated the tracking performance by comparing the trajectories of the following PT and the preceding PT and evaluated the stability of the following PT based on the change in its posture.