Motion stabilization system of a four-wheeled mobile robot for teleoperation mode: Experimental investigations in indoor environment

Abstract

The paper is concerned with the problem of straight-line motion stabilization of a wheeled mobile robot with non-steered wheels. This system is dedicated for teleoperation mode of the robot and aims at improvement of control experience of a human operator. The structure of the robot motion stabilization system based on a PD regulator with feedback from actual linear velocity and yaw rate of a robot body is proposed. The motion stabilization system was implemented using a low-cost MEMS Inertial Measurement Unit and the PIAP SCOUT four-wheeled robot with non-steered wheels. In the present work the motion stabilization system is implemented in a form reduced to yaw angle stabilization only, with stabilization of linear velocity not taken into account. Reliable functioning of the linear velocity stabilization (e.g. wheel slip reduction) based on measurement signals from the low-cost IMU requires additional research. Functioning of the proposed robot motion stabilization system was verified in experimental research. Experiments were conducted for various robot velocities in indoor environment on a horizontal and even ground. Results of investigations without and with the motion stabilization system were compared. A significant improvement in accuracy of realization of desired motion was observed in the case when the motion stabilization system was active.