DocumentCode
3158887
Title
Development of an autonomous inverted pendulum mobile robot for outdoor environment
Author
Igarashi, H. ; Saito, Takashi ; Kinjyo, T. ; Matsuno, Fumitoshi
Author_Institution
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu
fYear
2008
fDate
20-22 Aug. 2008
Firstpage
2282
Lastpage
2285
Abstract
This paper describes our work on the development of an outdoor mobile robot, designed for participation in the Real World Robot Challenge contest (Tsukuba Challenge). The robot consists of a mobile robotic platform (Segway RMP) and several sensors to estimate global position of the robot and detect its surroundings. We describe here the hardware structure of the developed robot and the methods and algorithms used in the implementation of the sensing and control system.
Keywords
mobile robots; nonlinear control systems; pendulums; Real World Robot Challenge contest; Segway RMP; Tsukuba Challenge; autonomous inverted pendulum mobile robot; outdoor mobile robot; Cities and towns; Control systems; Global Positioning System; Hardware; Humanoid robots; Intelligent robots; Mobile robots; Navigation; Robot sensing systems; Robotics and automation; Autonomous Mobile Robot; Dynamic self-balancing robot; Inverted pendulum; Navigation; Segway Robotic Mobility Platform;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference, 2008
Conference_Location
Tokyo
Print_ISBN
978-4-907764-30-2
Electronic_ISBN
978-4-907764-29-6
Type
conf
DOI
10.1109/SICE.2008.4655044
Filename
4655044
Link To Document