Development of a Segway robot for an intelligent transport system

摘要

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.