Shin'ichi Yuta

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In this paper, we di,;cuss the trajectory control for a wheeled inverse pendulum type mobile robot. The robot has two independent driving wheels on the same axle, and a gyro type sensor to measure the inclination angular velocity of the body and rotary encoders to measure wheel rotation. The purpose of this work is to make a robot autonomously navigate in a(More)
The authors aim at map based outdoor navigation of a mobile robot. In navigation, robot position is fundamentally obtained by odometry. However, the position is misaligned as the robot moves because odometry has cumulative error. DGPS measurement data may cancel its position error. The framework of EKF is used fur the modification and the fusion between(More)
We have developed a 2D laser range sensor suitable for mobile robot platforms. The sensor features compactness, lightweight, high precision and low power consumption, and provides the wide scan angle with high resolution, which is very important for environment recognition by mobile robots. The basic technology for measuring the distance between the sensor(More)
Conventional wall following with a n ultrasonic sensor uses only range data t o the nearest reflecting point. However, the bearing angle information to the wall i s more useful f o r a wall following mot ion . I n this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point.(More)
2 Vehicle command system for senIn this paper, a vehicle command system for the wheeled autonomous mobile robot with a high capability in describing the navigation task in the real environment, is proposed. And a 2.1 feedback control method to track along the given path by the sor based navigation Autonomous mobile robot and its sensor based navigation v(More)