Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Path Following with An Underactuated Self-Balancing Spherical-Wheel Mobile Robot
Date
2015-07-31
Author
Inal, Ali Nail
Morgul, Omer
Saranlı, Uluç
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
25
views
0
downloads
Cite This
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.
Subject Keywords
Trajectory
,
Solid modeling
,
Planning
,
Attitude control
,
Three-dimensional displays
,
Robots
,
Torque
URI
https://hdl.handle.net/11511/46754
DOI
https://doi.org/10.1109/icar.2015.7251455
Collections
Department of Computer Engineering, Conference / Seminar
Suggestions
OpenMETU
Core
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...
Decentralized coordination and control in robotic swarms
Şamiloğlu, Andaç Töre; Koku, Ahmet Buğra; Department of Mechanical Engineering (2012)
In this thesis study the coordination and control strategies for leaderless, decentralized robotic swarms are developed. The mathematical models of the collective motion of agents are derived by mimicry of swarm of organisms like schools of fish, herds of quadrupeds, flocks of flying birds. There are three main parts of this study (i) mathematical modelling, (ii) analytical analysis (iii) experimental and simulation based validations of the results. These works are performed on the (i) Fundamental agreement...
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 ...
Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control
Pouya, Soha; Aydın Göl, Ebru; Moeckel, Rico; Ijspeert, Auke Jan (2011-01-01)
This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and ...
Adaptive decentralized control of interconnected systems
Sezer, ME; Altunel, H (2004-08-01)
This paper presents a decentralized adaptive stabilization scheme for a class of interconnected systems using high-gain adaptive controllers. The nominal subsystems are assumed to satisfy some mild conditions required by standard adaptive control schemes, and the interconnections certain structural conditions. The decentralized controllers are high-gain dynamic systems operating on local outputs to generate local control inputs. Both continuous-time and sampled-data controllers are considered. The idea behi...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
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: https://hdl.handle.net/11511/46754.