球状車輪型全方向移動車輌のファジィ制御

DOI Web Site Web Site BIBCODE 被引用文献2件 参考文献19件
  • 飯田 賢一
    奈良工業高等専門学校専攻科機械制御専攻
  • 森 太一
    奈良工業高等専門学校専攻科機械制御専攻
  • 安野 卓
    徳島大学大学院ソシオテクノサイエンス研究部

書誌事項

タイトル別名
  • Fuzzy Control for Omni-Directional Vehicle with Ball Wheels
  • キュウジョウ シャリンガタ ゼン ホウコウ イドウ シャリョウ ノ ファジィ セイギョ

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説明

In this paper, motion control for omni-directional vehicle with ball wheels is considered. The proposed omni-directional vehicle has two ball wheels, and the actuators are arranged to X-direction and Y-direction in ball wheel. Hence, omni-directional vehicle has the ability to move in arbitrary speed and direction, and has also the ability to turn around the place. The proposed control system consists of the fixed gain feedback controllers and self tuning fuzzy controllers. To achieve improvement of responses, rules of fuzzy controller are automatically adjusted by a tuning law. To achieve improvement of mobility, the optical mouse sensor is installed on omni-directional vehicle for self-localization. The experimental results demonstrate the effectiveness of the proposed system for improvement of the movement performance of the omni-directional vehicle.

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