斜面におけるロール角センサを用いた最大傾斜方向への誘導制御

抄録

A sensing and control method inducing a mobile robot to the maximum inclinational direction on slopes is proposed. It is clarified that a roll angle sensor detects a deviation angle to the maximum inclinational direction on slopes. Mobile robot direction control to the maximum inclination direction can be easily achieved by doing feedback this deviational angle information to a servo controller in order to correct the direction. Experimental results show that the proposed control method is feasible not only on flat slopes but also spiral slopes. But in case of spiral slope, the deviational information is not symmetrical, and it requires asymmetrical compensation to servo controller. This compensation control is easily achieved by using the computerized control system. The locus of the mobile robot has followed the center line of the spiral slope exactly.