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

Yunsu Ha, Shin'ichi Yuta

研究成果: Paper査読

62 被引用数 (Scopus)

抄録

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'.

本文言語English
ページ1875-1882
ページ数8
出版ステータスPublished - 1994 12 1
イベントProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
継続期間: 1994 9 121994 9 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

ASJC Scopus subject areas

  • 工学(全般)

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