The Non-Interference PID Control for Twin Brushes Polishing Robot

摘要

A conventional floor polishing mobile vehicle or robot that has a rotary brush should be fairly large in body size and heavy in weight to prevent unnecessary movement caused by friction between a rotating brush and a floor. When those robots having larger weight are used to sweep or polish a floor, accidental collisions may damage office fixtures in a room. From this point of view, a light weight polishing robot is preferable. To satisfy this demand, the floor polishing robot using a rotary brush polisher was developed. But it has danger to roll up an obstacle. This paper shows a new control scheme for the floor polishing robot, which has two rotary brush polishers. This omnidirectional mobile robot requires no driving for locomotion and steering because frictions between a floor and rotating brushes is used as the driving force. We examined for a theory to control this robot by non-interference PID control, and clarified the effectiveness by experiments.