A Remote Control Method for Transport Two-Wheeled Mobile Robot

This paper investigates the deployment of transport Two-Wheeled Mobile Robots (TWMRs) within warehouse environments. TWMRs have superior maneuverability and a smaller footprint compared to conventional steering-type Autonomous Mobile Robots (AMRs). This feature makes TWMRs well-suited for narrow spaces and high-reach tasks. Despite these advantages, TWMRs are inherently unstable, necessitating sophisticated control systems to maintain balance. In this study, we propose a control system that enables remote operation of the TWMR, allowing the operator to adjust the pitch angle command. The TWMR is equipped with various control mechanisms, including Disturbance Observer (DOB), PD controller and Lyapunov controller. These components work in conjunction to stabilize the TWMR and enhance the translational position tracking performance. Simulation results demonstrated the effectiveness of our approach, showing that the proposed system successfully stabilized the TWMR and reduced pitch angle variations, especially under load conditions. It also suggested the potential of integrating human control ability with advanced control systems for improved TWMR performance.