らせん路走行の傾斜センサを用いた軌道誘導(機械力学,計測,自動制御)

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  • Trajectory Tracking Control on a Spiral Slope Using Inclination Sensors(Mechanical Systems)
  • らせん路走行の傾斜センサを用いた軌道誘導
  • ラセンロ ソウコウ ノ ケイシャ センサ オ モチイタ キドウ ユウドウ

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This paper describes first about the generalization of robot posture detection using inclination sensors, and second, the trajectory tracking control on a spiral road using that inclination sensor information. There is a cross talking, and the inclination sensor data does not show the robot posture angles directory. The relation between roll, pitch, yow sensor outputs and the three angles of the posture has been clarified. The result shows that there is a relation between these three sensor data. One of these three sensor data is subordination and two inclination sensors are enough for posture detection. The relation between the distance from the spiral center and robot posture on the spiral road is also clarified. The trajectory tracking control has been achieved successfully by using that trajectory radius and deviation angles detected by a couple of inclination sensors. This sensing method has an advantage because required data is obtained only from the road surface itself therefore there is no need of additional guiding road structure such as fences, center lines, or markings.

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