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

被引：133

作者：

Ha, YS

Yuta, S

机构：

[1] Intelligent Robot Laboratory, Inst. of Info. Sci. and Electronics, University of Tsukuba, Tsukuba 305

[2] Tokyo Univ. of Agric. and Technology, Tokyo

[3] Inst. of Info. Sci. and Electronics, University of Tsukuba, Ibaraki

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1996年 / 17卷 / 1-2期

关键词：

wheeled inverse pendulum; posture and velocity control; power wheeled steering; trajectory tracking control;

D O I：

10.1016/0921-8890(95)00062-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

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''.

引用

页码：65 / 80

页数：16

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