制約条件を考慮した車輪型倒立振子機構の位相平面を用いた移動計画手法

抄録

The wheeled inverted pendulum cannot balance without the control, and it is important to save motion in a control range. On the other hand, there is a scene which demand using the full acceleration and deceleration performance for collision avoidance. In this paper, we developed a new motion planning technique of wheeled inverted pendulum using full performance from all attitudes under hardware constraints. The development technique has two characteristics. (1) The plan is controlled by a liner combination of zeroth, ..., fourth differential of parameter which based on the motion equation of the wheeled inverted pendulum system. (2) We express the arbitrary attitude of the wheeled inverted pendulum and hardware constraints on a phase plane which has an angular rate of body and an angle of body. And we can calculate the motion plan on the plane. We confirmed that plan by this technique had no error to a simulation model.