Title :
Motion control system for 2 wheels independently driven vehicle with radio communication
Author :
Masukawa, Yohei ; Zhang, Feifei ; Mishima, Kiyoshi
Author_Institution :
Tokyo Univ. of Mercantile Marine, Japan
Abstract :
This paper describes the running control of a 2-wheel independently driven vehicle. We intend to develop a practical, useful and simple control method for the mechanism. The experimental results show that the vehicle can negotiate a complex course using a simple control law if the objective course is changed suitably, although the mechanism has a nonholonomic restriction.
Keywords :
automatic guided vehicles; collision avoidance; mobile robots; motion control; 2-wheel independently driven vehicle; control method; motion control system; nonholonomic restriction; obstacle avoidance; radio communication; running control; simple control law; Circuits; Communication system control; Motion control; Pulse modulation; Radio communication; Servomechanisms; Servomotors; Space vehicles; Vehicle driving; Wheels;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195545
