Abstract
In this paper, we discuss the trajectory control for a wheeled inverse pendulum type mobile robot. The robot has two independent driving wheels on the same axle, and a gyro type sensor to measure the inclination angular velocity of the body and rotary encoders to measure wheel rotation. The purpose of this work is to make a robot autonomously navigate in a plane while keeping its own balance. The control algorithm consists of three parts: balance and velocity control, steering control and straight line tracking control. We designed and implemented a vehicle command system for such robot to control using the proposed algorithm. Experiments of the navigation in a real indoor environment have been performed using our experimental robot "Yamabico Kurara".
| Original language | English |
|---|---|
| Pages (from-to) | 65-80 |
| Number of pages | 16 |
| Journal | Robotics and Autonomous Systems |
| Volume | 17 |
| Issue number | 1-2 SPEC. ISS. |
| DOIs | |
| Publication status | Published - 1996 Apr |
Keywords
- Posture and velocity control
- Power wheeled steering
- Trajectory tracking control
- Wheeled inverse pendulum
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Mathematics(all)
- Computer Science Applications