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

Yun Su Ha, Shin'ichi Yuta

研究成果: Article査読

167 被引用数 (Scopus)

抄録

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".

本文言語English
ページ(範囲)65-80
ページ数16
ジャーナルRobotics and Autonomous Systems
17
1-2 SPEC. ISS.
DOI
出版ステータスPublished - 1996 4月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 数学 (全般)
  • コンピュータ サイエンスの応用

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