Trajectory tracking control for navigation of self-contained mobile inverse pendulum

Yunsu Ha, Shin'ichi Yuta

Research output: Contribution to conferencePaper

56 Citations (Scopus)

Abstract

In this paper, we discuss the trajectory control for the wheeled inverse pendulum type mobile robot. The robot in this consideration has two independent driving wheels in same axle, and the gyro type sensor to know the inclination angular velocity of the body and rotary encoders to know wheels' rotation. The purpose of our work is to make the robot autonomously navigate in two dimensional plane while keeping balance its own body. The control algorithm consists of three parts; the balancing and velocity control, the heading control, and the trajectory control part. We designed and implemented vehicle command system for this robot with proposed algorithm. And the experiments of real world navigation have been made by our experimental system 'Yamabico Kurara'.

Original languageEnglish
Pages1875-1882
Number of pages8
Publication statusPublished - 1994 Dec 1
EventProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
Duration: 1994 Sep 121994 Sep 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ha, Y., & Yuta, S. (1994). Trajectory tracking control for navigation of self-contained mobile inverse pendulum. 1875-1882. Paper presented at Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3), Munich, Ger, .