Experimental validation of an underactuated two-wheeled mobile robot

IEEE/ASME Transactions on Mechatronics

Volumn 14, Issue 2, 2009, Pages 252-257

  Oryschuk, Patrick ^a   Salerno, Alessio ^c   Al Husseini, Abdul M ^b   Angeles, Jorge ^b  

^a DASSAULT SYSTÈMES   (France)

^b MCGILL UNIVERSITY   (Canada)

^c CANADIAN SPACE AGENCY   (Canada)

Author keywords

Linear quadratic control; Mobile robot dynamics; Mobile robot motion planning; Mobile robots; Motion control

Indexed keywords

CONTROL ALGORITHMS; CONTROL ARCHITECTURE; CONTROL CHALLENGES; CONTROL INPUTS; EXPERIMENTAL VALIDATIONS; LINEAR-QUADRATIC CONTROL; MOBILE ROBOT DYNAMICS; MOBILE ROBOT MOTION PLANNING; REAL TIME OPERATING SYSTEM; TWO-WHEELED MOBILE ROBOTS; UNDERACTUATED;

COMPUTER OPERATING SYSTEMS; DYNAMICS; MOTION CONTROL; MOTION PLANNING; NAVIGATION; REAL TIME CONTROL;

MOBILE ROBOTS;

EID: 65649126757     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2008.2007482     Document Type: Article

References (22)

1. A. Salerno and J. Angeles, "A new family of two-wheeled mobile robots: Modeling and controllability," IEEE Trans. Robot., vol. 1, no. 23, pp. 169-173, Feb. 2007.
2. E. Fraquelli, "Gyro-wheel car zooms along on giant tires at 116 mph," Mod. Mech. Inventions, vol. 14, p. 43, Jun. 1935.
3. P. H. Batavia and I. Nourbakhsh, "Path planning for the Cye personal robot," in Proc. IEEE/RSJ Intell. Robots Syst., 2000, vol. 1, pp. 15-20.
4. J. Borenstein and I. Ulrich, "The GuideCane - A computerized travel aid for the active guidance of blind pedestrians," in Proc. IEEE Int. Conf. Robot. Autom., Albuquerque, NM, 1997, pp. 1283-1288.
5. A. Drenner, I. Burt, T. Dahlin, B. Kratochvil, C. McMillen, B. Nelson, N. P. P. Rybski, K. Stubbs, D. Waletzko, and K. B. Yesin, "Mobility enhancements to the Scout robot platform," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, 2002, pp. 1069-1074.
6. F. Grasser, A. D'Arrigo, S. Colombi, and A. C. Rufer, "Joe: A mobile, inverted pendulum," IEEE Trans. Ind. Electron., vol. 49, no. 1, pp. 107-114, Feb. 2002.
7. D. J. Kamen, R. R. Ambrogi, R. J. Duggan, D. J. Field, R. K. Heinzmann, B. Amsbury, and C. C. Langenfeld, "Personal mobility vehicles and methods," Patent PCT/US00/15144, Oct. 26, 2000.
8. T. Kanda, H. Ishiguro, T. Ono, M. Imai, and R. Nakatsu, "Development and evaluation of an interactive humanoid robot "Robovie"," in Proc. IEEE Int. Conf. Robot. Autom., May 2002, vol. 2, pp. 1848-1855.
9. K. Pathak, J. Franch, and S. K. Agrawal, "Velocity and position control of a wheeled inverted pendulum by partial feedback linearization," IEEE Trans. Robot. Autom., vol. 21, no. 3, pp. 505-513, Jun. 2005.
10. J. J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.
11. A. Salerno, "Design, dynamics and control of a fast two-wheeled quasiholonomic robot," Ph.D. dissertation, McGill Univ., Montreal, QC, Canada, 2006.
12. S. Ostrovskaya and J. Angeles, "Nonholonomic systems revisited within the framework of analytical mechanics," Appl. Mech. Rev., vol. 51, no. 7, pp. 415-433, 1998.
13. P. Oryschuk, A. Salerno, A. Al-Husseini, and J. Angeles, "The real-time control of underactuated two-wheeled mobile robot," in ROMANSY 17, Robot Design, Dynamics, and Control, A. Takanishi, Y. Nakamura, and B. Heimann, Eds. New York: Springer-Verlag, 2008.
14. D. Hong, S. A. Velinski, and X. Feng, "Verification of a wheeled mobile robot dynamic model and control ratifications," Trans. ASME, J. Dyn. Syst., Meas., Control, vol. 121, no. 1, pp. 58-63, 1999.
15. D. W. Wang and C. B. Low, "Modeling and analysis of skidding and slipping in wheeled mobile robots: Control design perspective," IEEE/ASME Trans. Mechatronics, vol. 24, no. 3, pp. 676-687, Jun. 2008.
16. D. W. Wang and G. Y. Xu, "Full-state tracking and internal dynamics of nonholonomic wheeled mobile robots," IEEE/ASME Trans. Mechatronics vol. 8, no. 2, pp. 203-214, Jun. 2003.
17. P.-S. Tsai, L.-S.Wang, and F.-R. Chang, "Modeling and hierarchical tracking control of tri-wheeled mobile robots," IEEE Trans. Robot. vol. 22, no. 5, pp. 1055-1062, Oct. 2006.
18. C. L. Hwang and L. J. Chang, "Trajectory tracking and obstacle avoidance of car-like mobile robots in an intelligent space using mixed h-2/h-infinity decentralized control," IEEE/ASME Trans. Mechatronics vol. 12, no. 3, pp. 345-352, Jun. 2007.
19. A. Salerno and J. Angeles, "The control of semi-autonomous two wheeled robots undergoing large payload-variations," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, 2004, pp. 1740-1745.
20. A. Salerno and J. Angeles, "On the nonlinear controllability of a quasiholonomic mobile robot," in Proc. IEEE Int. Conf. Robot. Autom. Taipei, Taiwan, Sep. 2003, pp. 3379-3384.
21. P. R. Belanger, Control Engineering: A Modern Approach. Philadelphia, PA: Saunders, 1995.
22. J. Angeles, Fundamentals of Robotic Mechanical Systems. Theory, Methods, and Algorithms, 3rd ed. New York: Springer-Verlag, 2007.