TY - GEN
T1 - Development of a Segway robot for an intelligent transport system
AU - Pinto, Lerrel Joseph
AU - Kim, Dong Hyung
AU - Lee, Ji Yeong
AU - Han, Chang Soo
PY - 2012
Y1 - 2012
N2 - The need for an intelligent transport system has been heightened in the present day, by the ever-growing demand to combine ease of transport with maximum efficacy. The Segway robot provides a platform which balances itself and transports the user in accordance to its natural lean. However in order to achieve a truly intelligent system, challenges encapsulated in the form of stable control must first be developed. This paper discusses the various aspects of Segway control and sheds light on solutions to solve difficulties in sensor data fusion, noise filtering and time lag in accumulation and transfer of data. Unaccounted time delays necessitate a control, different from an analytically derived control, so as to achieve a stable and easily movable Segway. A proposed control method has been implemented on a real human ridable Segway platform and has achieved considerable success in actual experimentation.
AB - The need for an intelligent transport system has been heightened in the present day, by the ever-growing demand to combine ease of transport with maximum efficacy. The Segway robot provides a platform which balances itself and transports the user in accordance to its natural lean. However in order to achieve a truly intelligent system, challenges encapsulated in the form of stable control must first be developed. This paper discusses the various aspects of Segway control and sheds light on solutions to solve difficulties in sensor data fusion, noise filtering and time lag in accumulation and transfer of data. Unaccounted time delays necessitate a control, different from an analytically derived control, so as to achieve a stable and easily movable Segway. A proposed control method has been implemented on a real human ridable Segway platform and has achieved considerable success in actual experimentation.
UR - http://www.scopus.com/inward/record.url?scp=84874264825&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84874264825&partnerID=8YFLogxK
U2 - 10.1109/SII.2012.6427308
DO - 10.1109/SII.2012.6427308
M3 - Conference contribution
AN - SCOPUS:84874264825
SN - 9781467314961
T3 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
SP - 710
EP - 715
BT - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
T2 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
Y2 - 16 December 2012 through 18 December 2012
ER -