Lateral Movement Method of Inverted Two-wheeled Vehicles for Narrow Roads Using Pivot Turn

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2021/03/01

タイトル(英語): Lateral Movement Method of Inverted Two-wheeled Vehicles for Narrow Roads Using Pivot Turn

著者名: Kazutaka Murakoshi (Department of Electrical Electronic, and Communication Engineering, Chuo University), Hironori Matsubara (Department of Electrical Electronic, and Communication Engineering, Chuo University), Yuki Nagatsu (Department of Electrical Elec

著者名(英語): Kazutaka Murakoshi (Department of Electrical Electronic, and Communication Engineering, Chuo University), Hironori Matsubara (Department of Electrical Electronic, and Communication Engineering, Chuo University), Yuki Nagatsu (Department of Electrical Elec

キーワード: inverted two wheels，pivot turn，trajectory tracking control

要約(英語): In recent years, the declining birthrate and an aging population have become a serious problem in Japan. For this reason, the number of elderly people who have difficulty going outside is expected to increase. In addition, elderly people have difficulty dealing with modes of transportation such as cars and bicycles. To solve these problems, a small and easy-to-handle mobile robot, such as an inverted two-wheel vehicle is expected to be a useful device. However, the vehicle robot has difficulty moving along a path with a narrower width than that of the vehicle body. Therefore, in this paper, a trajectory planning method is proposed that makes it possible for vehicles to move laterally on narrow roads using a pivot turns in places where it is otherwise difficult to turn. The validity of the proposed method was evaluated experimentally.

本誌: IEEJ Journal of Industry Applications Vol.10 No.2 （2021） Special Issue Ⅰ on “Motion Control and its Related Technologies”　　Special Issue Ⅱ on “Advanced Power Electronics Technologies”

本誌掲載ページ: 184-191 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/10/2/10_20004797/_article/-char/ja/