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JRM Vol.28 No.5 pp. 687-694
doi: 10.20965/jrm.2016.p0687
(2016)

Paper:

Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition

Kyosuke Terada*, Hiroyasu Miura*, Masayuki Okugawa*, and Yoshimitsu Kobayashi**

*Faculty of Engineering, Department of Mechanical Engineering, Aichi Institute of Technology
1247 Yachigusa, Yakusa-cho, Toyota-shi, Aichi 470-0392, Japan

**Department of Electronic and Control Engineering, National Institute of Technology, Gifu College
2236-2 Kamimakuwa, Motosu-shi, Gifu 501-0495, Japan

Received:
February 22, 2016
Accepted:
July 4, 2016
Published:
October 20, 2016
Keywords:
rectilinearity, road condition, speed control, simple adaptive control, wheeled mobile robot
Abstract

Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition

Adaptive speed control for mobile robot

This study investigated the effectiveness of a simple adaptive control system used for controlling the dynamics of the driving system of a wheeled mobile robot. This paper describes the design method of a speed control system and the gain adjustment procedure considering a practical application of the simple adaptive control system. Experiments were conducted on two different road conditions, and the results indicated that the rectilinear performance of the wheeled mobile robot improved with the use of the simple adaptive control system. In the case of uncertain road conditions, the simple adaptive control system reduced the deterioration of the control performance effectively.

Cite this article as:
K. Terada, H. Miura, M. Okugawa, and Y. Kobayashi, “Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition,” J. Robot. Mechatron., Vol.28, No.5, pp. 687-694, 2016.
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