光学マウスセンサとLRFを用いた全方位移動車輛のモーションコントロール

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2013/11/01

タイトル(英語): Motion Control of Omni-Directional Vehicle Using Optical Mouse Sensor and Laser Range Finder

著者名: 飯田　賢一（奈良工業高等専門学校），川節　拓実（大阪大学），安野　卓（徳島大学）

著者名(英語): Kenichi Iida (Nara National College of Technology), Takumi Kawasetsu (Osaka University), Takashi Yasuno (The University of Tokushima)

キーワード: 全方位移動車輛，モーションコントロール，ファジィ制御，光学マウスセンサ，レーザレンジファインダ，カルマンフィルタ　　Omni-Directional Vehicle，Motion Control，Fuzzy Control，Optical Mouse Sensor，Laser Range Finder，Kalman Filter

要約(英語): This paper describes a method of motion control for an omni-directional vehicle. The proposed control system consists of two controllers: self-tuning fuzzy feedforward controller to control the velocity and self-tuning fuzzy feedback controller to control the position and angle of the vehicle. In these controllers, the fuzzy rules are automatically adjusted by the tuning law to improve the responses of the position, angle and velocity; hence, the proposed control method has high-tracking performance. In the proposed self-localization method, the velocity of the vehicle is obtained using four optical mouse sensors as an internal sensor, and the position in the environment is calculated by ICP algorithm using a laser range finder as an external sensor. This information is combined using Kalman filter to eliminate the accumulated error which occurs by an optical mouse sensor. Therefore, the proposed self-localization method is able to estimate the state of vehicle with fast sampling time and high precision. An experiment, which uses an omni-directional vehicle with four omni-wheels, four optical mouse sensors and laser range finder, conducted to evaluate the proposed motion control system. The experimental results reflect the effectiveness of the proposed motion control system for an omni-directional vehicle.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.133 No.11 （2013） 特集：電気関係学会関西連合大会

本誌掲載ページ: 2021-2028 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/133/11/133_2021/_article/-char/ja/