Electricity: motive power systems – Positional servo systems – Vehicular guidance systems with single axis control
Patent
1990-06-19
1991-12-17
Ip, Paul
Electricity: motive power systems
Positional servo systems
Vehicular guidance systems with single axis control
31856810, 318585, 36442401, 36442402, 901 1, 395 1, G06F 1550
Patent
active
050737490
ABSTRACT:
A mobile robot navigating method for navigating an autonomous mobile robot utilizes a path planning unit, a posture control unit, a command signal converting unit, a current posture computing unit and a running mechanism, such as an autonomous carrier vehicle, capable of quickly and accurately controlling the mobile robot for steady running to a desired posture along a specified path. The mobile robot is controlled for running by a speed command including a desired speed for feed-forward control a speed correction for feed back control, and an angular velocity command including a desired angular velocity for feed-forward control and an angular velocity correction for feedback control. The mobile robot is controlled in a feed back and feed-forward control mode using the speed command and the angular velocity command so as to run steadily along an optimum path to a desired posture without meandering.
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Ip Paul
Shinko Electric Co. Ltd.
Sogo Securities Co., Ltd.
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