Path Following with An Underactuated Self-Balancing Spherical-Wheel Mobile Robot

Inal, Ali Nail
Morgul, Omer
Saranlı, Uluç
Reactive methods for motion planning offer robustness advantages in the presence of large disturbances for robotic systems. Unfortunately, it is difficult to generalize these reactive methods to underactuated systems and existing research predominantly focuses on solutions based on the high-gain tracking of dynamically feasible trajectories. Self-balancing mobile robots with spherical wheels, BallBot platforms, are rich examples of such underactuated mechanisms where motion planning has traditionally been done through trajectory tracking on actuated system states with little explicit feedback on external states that are not directly controlled. In this paper, we propose a reactive path-following controller for external states of such platforms, eliminating the need to follow time-parameterized state trajectories. We first define the path-following problem in general, and present how it can be realized through a parallel composition of existing, two-dimensional controllers for the BallBot morphology. We then show in simulation how this idea can be used to achieve asymptotic convergence to a linear path with a constant forward velocity. We also show how the basic idea can be generalized to more complex path shapes such as circles, towards an eventual deployment in a more complete motion planning framework based on sequential composition.


MPC-Graph: Nonlinear feedback motion planning using sparse sampling based neighborhood graph
Atasoy, Simay; Ankaralı, Mustafa Mert; Department of Electrical and Electronics Engineering (2022-1)
Robust and safe feedback motion planning and navigation is a critical task for autonomous mobile robotic systems considering the highly dynamic and uncertain nature scenarios of modern applications. For these reasons motion planning and navigation algorithms that have deep roots in feedback control theory has been at the center stage of this domain recently. However, the vast majority of such policies still rely on the idea that a motion planner first generates a set of open-loop possibly time-dependent tra...
Mobile traffic modelling for wireless multimedia sensor networks in IoT
Al-Turjman, Fadi; Radwan, Ayman; Mumtaz, Shahid; Rodriguez, Jonathan (2017-11-01)
Wireless sensor networks suffer from some limitations such as energy constraints and the cooperative demands essential to perform multi-hop geographic routing for real-time applications. Quality of Service (QoS) depends to a great extent on offering participating nodes an incentive for collaborating. In this paper, we present a novel traffic model for a new-generation of sensor networks that supports a wide range of communication-intensive real-time multimedia applications. The model is used to investigate ...
Optimization of compact electromagnetic energy harvesters for wireless sensor applications
Yaşar, Oğuz; Külah, Haluk; Department of Electrical and Electronics Engineering (2017)
The developments in wireless sensor systems force researchers to analyze how to satisfy power requirements of these systems. Batteries can be the main candidate to be used as power source; however, they affect negatively the continuity of the wireless systems due to their limited lifetime. In order to provide continuous power source, energy harvester modules are proposed. With the advancements on IC technology, it is possible to convert extracted energies to power sources for the sensors operating in wirele...
Parallel decodable channel coding implemented on a MIMO testbed
Aktaş, Tuğcan; Yılmaz, Ali Özgür; Department of Electrical and Electronics Engineering (2007)
This thesis considers the real-time implementation phases of a multiple-input multiple-output (MIMO) wireless communication system. The parts which are related to the implementation detail the blocks realized on a field programmable gate array (FPGA) board and define the connections between these blocks and typical radio frequency front-end modules assisting the wireless communication. Two sides of the implemented communication testbed are discussed separately as the transmitter and the receiver parts. In a...
Multi-functional metamaterial sensor based on a broad-side coupled SRR topology with a multi-layer substrate
EKMEKÇİ, Evren; Sayan, Gönül (2013-01-01)
This paper intends to demonstrate the feasibility of a miniaturized multi-purpose metamaterial sensor that can be effectively used for chemical, biological and pressure sensing in microwave and terahertz applications. This novel sensor design makes use of the double-sided split ring resonator (DSRR) topology that is modified to have an additional sensing medium sandwiched between two identical broadside coupled SRR unit cells. The resonance frequency of the resulting DSRR sensor shifts as the dielectric per...
Citation Formats
A. N. Inal, O. Morgul, and U. Saranlı, “Path Following with An Underactuated Self-Balancing Spherical-Wheel Mobile Robot,” 2015, Accessed: 00, 2020. [Online]. Available: