Art

J-GLOBAL ID：201702268305009388   Reference number：17A0565730

Load distribution and skid compensation control of omni-directional vehicle with independent driving modules

独立駆動モジュール付き全方向移動車の荷重分布とスキッド補償制御

Author (2)： ISHII Yuji (Faculty of Science and Technology, Keio University) ,  NAKAZAWA Kazuo (Faculty of Science and Technology, Keio University)
Material： Mechanical Engineering Journal (Web)  (Mech Eng J (Web))
Volume： 4  Issue： 1  Page： 16-00226(J-STAGE)  Publication year： 2017 
JST Material Number： U0484A  ISSN： 2187-9745  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *load distribution ,  *skid ,  direction ,  *mobile robot ,  *directional control ,  *distributed coordination ,  *environmental impact ,  *drive ,  transverse direction ,  model ,  all-wheel-drive system ,  Torque ,  *system observer ,  *reaction force ,  disturbance ,  *omni-direction mobile robot ,  vehicle model ,  kinematic model ,  driving torque ,  disturbance observer ,  omni-direction
Semi thesaurus term： omni-directional ,  独立駆動 ,  front and rear wheels independent drive type

Author keywords (5)： Omni-directional vehicle ,  Multiple mobile robots ,  Distributed coordination ,  Environmental load distribution ,  Skid detection

JST classification (1)： Motion and control of robots  (IC04012J)

Reference (15)：

• Choi, M. W., Park, J. S., Lee, B. S. and Lee, M. H., The performance of independent wheels steering vehicle(4WS) applied Ackerman geometry, 2008 International Conference on Control, Automation and Systems (ICCAS)(2008), pp.197-202.
• Ishigami, G., Pineda, E., Overholt, J., Hudas, G., andIagnemma, K., Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain, Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pp.4091-4096.
• Kadowaki, S., Ohishi, K., Sano, T. and Yasukawa, S., Application of Anti-slip/skid Re-adhesion Control System Based on Disturbance Observer to a Skid Control Considering Cooperation Control of Air Bake and Electric Brake, IEEJ Transaction on Industry Applications, Vol.125, No.10 (2005), pp. 919-926 (in Japanese).
• Kitagawa, H., Beppu, T., Ohno, Y., Miyoshi, T. and Terashima, K., Motion Control of Omni-directional Mobile Wheelchair Considering User's Comfort , Journal of Robotics Society of Japan, Vol.22, No.7 (2004), pp.933-939 (in Japanese).
• Maeda, K., Fujimoto, H., Front and Rear Driving Force Distribution Method for Retaining Driving Force on Instantaneous Slippery Roads for Electric Vehicle with In-Wheel Motors, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.78, No.794 (2012-10), pp.3383-3392 (in Japanese).

Terms in the title (5)： モジュール ,  全方向 ,  荷重分布 ,  スキッド ,  補償