3213 High Speed Control for Two-Wheeled Mobile Robots
Nobuhiro Ushimi, Kazuhiro Tsuruta · The proceedings of the JSME annual meeting · 2007
Wheeled mobile robots are required to operate at high speed and expected to carry baggage safely. This paper discusses the high speed control of a two-wheeled mobile robot at the indoor environment, such as an office, library, and hospital. A difference in road level, such as an uneven joint of a tile and carpet, influences the speed control property of the two-wheeled mobile robot. The developed sensor system that is attached to the suspensions of driving wheels measures the difference in road level and undulation of floor surfaces by suspension behavior. Measured data are used for the speed control of the two-wheeled mobile robot.