Trajectory tracking control for navigation of the inverse pendulum type self-contained mobile robot
✍ Scribed by Yun-Su Ha; Shin'ichi Yuta
- Publisher
- Elsevier Science
- Year
- 1996
- Tongue
- English
- Weight
- 892 KB
- Volume
- 17
- Category
- Article
- ISSN
- 0921-8890
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✦ Synopsis
In this paper, we di,;cuss 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".