NDLI: Step ascent modelling of a two-wheeled robot

Content Provider	IEEE Xplore Digital Library
Author	Chen, T. Hazelwood, P. Stol, K.
Copyright Year	2012
Description	Author affiliation: Department of Mechanical Engineering, The University of Auckland, New Zealand (Chen, T.; Hazelwood, P.; Stol, K.)
Abstract	This paper describes the dynamics and control of a two-wheeled robot (TWR) traversing a step. The TWR is able to navigate obstacles by shifting its centre of mass; however this comes at the cost of higher control requirements for stability. Equations of motion are derived for the system and a controller designed taking into account the initial conditions and possible reference trajectories. The TWR can be driven to any equilibrium position on the step by linearising the plant about that point and using state regulation. Analysis and simulation show that specific initial conditions are required for the TWR to avoid rolling back off the step. Limiting conditions of the developed controller are found, which include wheel slip, motor torque limit, and parameter uncertainty. The distance of the centre of mass of the TWR from the axle is the most sensitive to deviations from nominal. The current controller is able to traverse steps up to 5.7cm in height over any ascent time longer than 4.5s.
Starting Page	310
Ending Page	315
File Size	513864
Page Count	6
File Format	PDF
ISBN	9781467316439
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-28
Publisher Place	New Zealand
Access Restriction	Subscribed
Rights Holder	AUT University
Subject Keyword	Torque Navigation Wheels Trajectory Mobile robots Mathematical model
Content Type	Text
Resource Type	Article

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