Approach to Stability Control of Mobile Robots using Suspension Sensors on Non-Ideal Floors

N. Ushimi and K. Tsuruta (Japan)


Wheeled Mobile Robot, Stability Control, Navigation, Sensing, Suspension Behavior


Mobile robots are required to control accurately and ex pected to carry baggage safely. This paper discusses the stability control of wheeled mobile robots in indoor en vironments, such as offices, hospitals and libraries. Non ideal floors with uneven obstacles, such as the joints of tiles and the floor sockets of office automation, influences the stability control property of the wheeled mobile robots. A developed suspension sensor that is attached to the sus pension of a mobile robot driving wheel measures the dif ference in road level and undulation of floor surfaces by suspension behavior. Measured information is used for the stability control of a wheeled mobile robot. The stability of the wheeled mobile robot is improved by a proposed feed back control method based on a disturbance compensation. Experimental results show effectiveness of the proposed feedback control method using the developed suspension sensor.

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