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

Yun Su Ha, Shinichi Yuta

Research output: Contribution to journalArticle

145 Citations (Scopus)


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 languageEnglish
Pages (from-to)65-80
Number of pages16
JournalRobotics and Autonomous Systems
Issue number1-2 SPEC. ISS.
Publication statusPublished - 1996 Apr
Externally publishedYes



  • Posture and velocity control
  • Power wheeled steering
  • Trajectory tracking control
  • Wheeled inverse pendulum

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computational Mechanics

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