無方向性四輪車のモデル導出と制御法の開発

抄録

A non-directional four-wheeled mobile robot that doesn’t have the concept of orientation and falling down has being developed in our laboratory. The junction between foreside and rearward of the robot can bend, so this robot has broad range of movement as compared with normal four-wheel vehicle. In our previous research, the junction between foreside and rearward of the robot is assumed to be fixed, and a control approach was developed on the basis of a dynamic model that doesn’t consider the bending of the junction. When this robot has the possibility of bending, this control approach doesn’t obtain the same effect. In this research, a new dynamic model considering the bending of the junction is derived and a new control approach which corresponds the possibility of bending is developed. Finally, the effectiveness of the proposed controller was verified by experiment.