Abstract
The following contribution introduces the design, modeling and control of a two-wheeled self-balancing vehicle. This mobile robot is about 60cm tall and uses two wheels actuated by two DC gear drives to execute transport tasks. An embedded board and a microcontroller enable the control of the wheels and assume the path planning. Several sensors, such as a Microsoft Kinect as well as a gravitation and an angular rate sensor, stabilize the robot and make a communication between robot and humans possible. Due to the nonholonomic constraints of the wheels, only few modeling methods are feasible. The obtained model serves as basis for the following control design. A flatnessbased approach provides an excellent possibility to follow a trajectory, but requires an underlaid velocity controller and continuous cur-vature paths. The combination of the well designed trajectory controller and the applied paths, which are composed by straight lines, circles and clothoids, enable a good performance in simulation and experiment.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the Austrian Robotics Workshop 2013 |
| Editors | Wilfried Kubinger, Alexander Hofmann, Friedrich Praus |
| Pages | 31-36 |
| Number of pages | 6 |
| Publication status | Published - May 2013 |
Fields of science
- 203022 Technical mechanics
- 203013 Mechanical engineering
- 202035 Robotics
- 203015 Mechatronics
JKU Focus areas
- Mechatronics and Information Processing