© Springer International Publishing Switzerland 2015 D. Filev et al. (eds.), Intelligent Systems’2014, 117 Advances in Intelligent Systems and Computing 323, DOI: 10.1007/978-3-319-11310-4_11 Motion Stabilization System of a Four-Wheeled Mobile Robot for Teleoperation Mode: Experimental Investigations in Indoor Environment Maciej Trojnacki 1 , Przemysław Dąbek 1 , Janusz Kacprzyk 1 , and Zenon Hendzel 2 1 Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland {mtrojnacki,pdabek,jkacprzyk}@piap.pl 2 Rzeszów University of Technology, Rzeszów, Poland zenhen@prz.edu.pl Abstract. The paper is concerned with the problem of straight-line motion sta- bilization of a wheeled mobile robot with non-steered wheels. This system is dedicated for teleoperation mode of the robot and aims at improvement of con- trol experience of a human operator. The structure of the robot motion stabiliza- tion 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 sta- bilization only, with stabilization of linear velocity not taken into account. Reli- able functioning of the linear velocity stabilization (e.g. wheel slip reduction) based on measurement signals from the low-cost IMU requires additional re- search. Functioning of the proposed robot motion stabilization system was veri- fied 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 ob- served in the case when the motion stabilization system was active. Keywords: wheeled mobile robot, teleoperation, motion stabilization, linear controller, INS technique, MEMS gyroscope, indoor environment, empirical re- search. 1 Introduction Among commercially available mobile robots a significant group consists of robots controlled remotely by a human operator, that is, teleoperated robots. Most often the locomotion system of those robots is based on wheels [1]–[3] or tracks [4] because of simplicity of design of this type of locomotion system and simplicity of control as compared to solutions based on discrete locomotion (walking and hybrid robots). This class of robots finds its application especially in safety and security tasks associated, for instance, with neutralization of dangerous objects [5].