Detection of Surface of the Road using Depth Sensor on the Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

• Matsuda Takayuki

  Dept. of Intelligence and Informatics, Konan University

• Hatakeyama Naoki

  Dept. of Intelligence and Informatics, Konan University

• Takimura Masahiro

  Dept. of Intelligence and Informatics, Konan University

• Wada Masahiro

  Dept. of Intelligence and Informatics, Konan University

• Tanaka Masahiro

  Dept. of Intelligence and Informatics, Konan University

• Umetani Tomohiro

  Dept. of Intelligence and Informatics, Konan University

• Ito Minoru

  Maizuru National College of Technology

抄録

This paper shows a basic method to detect the surface of the road using a depth sensor and tracking method for keeping a sensing level using a pan-tilt unit on an inverted pendulum mobile robot. In our mobile robot system, the pitch angle of the robot is not always constant because of only two wheels, and the data from the sensors are affected by it. Therefore, it is necessary to obtain precisely their posture such as position and angles. In this study, a basic approach of detection of the surface of the road using tracking control method by a pan-tilt unit is shown. Furthermore, in order to realize a precise tracking control method, swing motion using real data obtained from the mobile robot is also predicted by an ARX process.

収録刊行物

• Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications

  Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications 2014 (0), 389-394, 2014-05-05

  システム制御情報学会ストカスティックシステムシンポジウム

キーワード

• Materials Science (miscellaneous)

詳細情報

• CRID: 1390001288034342272
• NII論文ID: 130007377547
• DOI: 10.5687/sss.2014.389
• ISSN: 21884749
• ISSN: 21884730
• Web Site: https://www.jstage.jst.go.jp/article/sss/2014/0/2014_389/_pdf
• 本文言語コード: en
• データソース種別:
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  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可