Development of Motion Control System for Wheel-type Service Robot

IR

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  • サービス用移動ロボットのための走行制御システムの開発

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This paper describes a motion control system of self-contained mobile robot for service use in office building. ln this development, trajectory tracking and obstacle avoidance are assigned to the robot as the fundamental and essential tasks. As the trajectory trackmg algorithm, fuzzy reasoning is used, and the obstacle avoidance system is constructed with ultrasonic sensor, infrared sensor and bumper switch. This control system is operated by decentralized microcomputer system using hierarchical control architecture. Numerical simulation was performed to analyze the controllability of this system, arid the simulation results gave important information for membership functions of the fuzzy rule. The experiments were also carried out to verify the simulation results using a self-contained mobile robot. The experimental results show shat the proposed system is effective for motion control of the service robot.

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