Experimental Validation of an Underactuated Two-Wheeled Mobile Robot
- 27 February 2009
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 14 (2), 252-257
- https://doi.org/10.1109/tmech.2008.2007482
Abstract
Reported in this paper are the implementation and testing of the real-time control of a two-wheeled mobile robot. The robot is underactuated, its mobility and control inputs being three and two, respectively. The control challenge faced here is to reduce the oscillations of the intermediate body while following a desired path. A controller, introduced elsewhere, is implemented using a real-time operating system on a novel control architecture. The control algorithm was tested using three different test motions: translational, rotational, and uphill.Keywords
This publication has 15 references indexed in Scilit:
- Modeling and Analysis of Skidding and Slipping in Wheeled Mobile Robots: Control Design PerspectiveIEEE Transactions on Robotics, 2008
- Trajectory Tracking and Obstacle Avoidance of Car-Like Mobile Robots in an Intelligent Space Using Mixed $H_{2}/H_{\infty}$ Decentralized ControlIEEE/ASME Transactions on Mechatronics, 2007
- Modeling and hierarchical tracking control of tri-wheeled mobile robotsIEEE Transactions on Robotics, 2006
- The control of semi-autonomous two-wheeled robots undergoing large payload-variationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Full-state tracking and internal dynamics of nonholonomic wheeled mobile robotsIEEE/ASME Transactions on Mechatronics, 2003
- The GuideCane-a computerized travel aid for the active guidance of blind pedestriansPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Path planning for the Cye personal robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- JOE: a mobile, inverted pendulumIEEE Transactions on Industrial Electronics, 2002
- Verification of a Wheeled Mobile Robot Dynamic Model and Control RamificationsJournal of Dynamic Systems, Measurement, and Control, 1999
- Nonholonomic Systems Revisited Within the Framework of Analytical MechanicsApplied Mechanics Reviews, 1998