Title :
On the control of a two-wheeled balancing path-following robot
Author :
Jianlan Luo ; Zhewen Tian ; Jintao Yang
Author_Institution :
Dept. of Automotive Eng., Wuhan Univ. of Technol., Wuhan, China
Abstract :
Two-wheeled balancing robots have been widely used for research and market purposes. This paper focuses on the control of such a robot to maximize its velocity when following certain paths. Dynamic model is constructed based on Lagrange equation; an efficient but low CPU-cost complementary filter is proposed to realize the accurate estimation of robot´s posture; three independent PID controllers are employed to achieve separate control tasks and then unified under a proposed global control scheme. Experiment results show that this robot could run at the speed of 2.2 m/s with rejecting disturbances.
Keywords :
mobile robots; motion control; pose estimation; robot vision; three-term control; velocity control; Lagrange equation; independent PID controllers; low CPU-cost complementary filter; robot posture estimation; two-wheeled balancing path-following robot; Accelerometers; Educational robots; Mathematical model; Mobile robots; Robot kinematics; Wheels;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090622
