Fastest guidance control with acceleration restriction of PWS mobile robot

Yasuhiro Yazaki, Takeshi Ikeda, Mamoru Minami, Yasushi Mae

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Force and torque induced by traveling motion of a mobile robot effect dynamically to the objects being carried on it. If the induced force and torque should be bigger than the static friction force and torque exerting between the carrying objects and the mobile robot, the carrying objects start to slip on it. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads to a dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. Then we propose a fastest guidance control method with acceleration restriction of Power Wheeled Steering (PWS) mobile robot to prevent slipping of carrying objects. The performances have been examined by simulations and experiments.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1873-1878
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period10/9/0610/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Yazaki, Y., Ikeda, T., Minami, M., & Mae, Y. (2006). Fastest guidance control with acceleration restriction of PWS mobile robot. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1873-1878). [4058652] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282310