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

Yunsu Ha, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

55 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
Title of host publicationIEEE/RSJ/GI International Conference on Intelligent Robots and Systems
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages1875-1882
Number of pages8
Volume3
Publication statusPublished - 1994
Externally publishedYes
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

Fingerprint

Pendulums
Navigation
Trajectories
Robots
Wheels
Velocity control
Axles
Angular velocity
Mobile robots
Sensors
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ha, Y., & Yuta, S. (1994). Trajectory tracking control for navigation of self-contained mobile inverse pendulum. In IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (Vol. 3, pp. 1875-1882). Piscataway, NJ, United States: IEEE.

Trajectory tracking control for navigation of self-contained mobile inverse pendulum. / Ha, Yunsu; Yuta, Shinichi.

IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 3 Piscataway, NJ, United States : IEEE, 1994. p. 1875-1882.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ha, Y & Yuta, S 1994, Trajectory tracking control for navigation of self-contained mobile inverse pendulum. in IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. vol. 3, IEEE, Piscataway, NJ, United States, pp. 1875-1882, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3), Munich, Ger, 94/9/12.
Ha Y, Yuta S. Trajectory tracking control for navigation of self-contained mobile inverse pendulum. In IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 3. Piscataway, NJ, United States: IEEE. 1994. p. 1875-1882
Ha, Yunsu ; Yuta, Shinichi. / Trajectory tracking control for navigation of self-contained mobile inverse pendulum. IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 3 Piscataway, NJ, United States : IEEE, 1994. pp. 1875-1882
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