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(機械力学,計測,自動制御)

Akinori NAGANO, Takuto OMURA, Taro IWAMOTO
2010 TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C  
This paper describes first about the generalization of robot pGsture detection using irlclination sensors , and second , the traject'}ry tracking control ol 〕 aspiral road using that inclination sensor informatien. Thcre is a cross tulking , and the inc1ination sens ( >r datu does not show the robot posture angles directory . The relation between roll , pitch , yow sensor outputs arld the three angles of the pQsture has been clarified . The resUlt shuws that there is a relution between these
more » ... ee sensor data. One of these thr 巳e sensur data is subordinati 〔) n and tw { 〕 inclina , tion sens 〔 jrs are enough fur posture detection . The relation between the distance frorn the spiral center and robot posture on the spiral road is also clarified . The trajcctory tracking coDtrol has been achieved successfully by using that trajectory radius and deviation angles detected by a co し1ple of indinatiorl sensors . This sensing r〕1ethod has an adval ユ tagc because required data is obtained only fr〔♪n ユ the rDad surface itself therefore there is no need of additional guiding road structure such as fences, center lines , er markings
doi:10.1299/kikaic.76.1735 fatcat:v6th3hk3zbd5fnmxjpjxdgyf4y