NDLI: Development of a Mobile Two-Wheel Balancing Platform for Autonomous Applications

Content Provider	IEEE Xplore Digital Library
Author	Coelho, V. Liew, S. Stol, K. Liu, G.
Copyright Year	2008
Description	Author affiliation: Dept. of Mech. Eng., Univ. of Auckland, Auckland (Coelho, V.; Liew, S.; Stol, K.; Liu, G.)
Abstract	This paper describes the development of a mobile two-wheel balancing platform to facilitate the testing of autonomous mobile applications. Two-wheeled platforms offer the benefits of increased stability for tall robots with a smaller footprint, resulting in greater agility. The integration of software and hardware is an important aspect of the design, as well as the implementation of reference trajectory controllers. Sensors to measure the speed, tilt angle and tilt rate of the platform are incorporated with two embedded PCs. The first PC provides control commands to the system based on MATLAB and Simulink and the second PC is responsible for implementing advanced autonomous applications such as people following and obstacle avoidance using 'Player', a well known robot software interface used for robotics research. The LQR controller is tuned to yield better closed-loop performance and tested with the platform.
Starting Page	575
Ending Page	580
File Size	6677395
Page Count	6
File Format	PDF
ISBN	9781424437795
DOI	10.1109/MMVIP.2008.4749594
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-02
Publisher Place	New Zealand
Access Restriction	Subscribed
Rights Holder	Intl Journal of Intelligent
Subject Keyword	Fuzzy control Stability Three-term control Wheels Robot sensing systems Hardware Mobile robots Application software Motion control Testing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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