An improved method for the kinodynamic motion controller in a two-wheeled drive mobile robot

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A robot with two independent driving wheels is used popularly as a service robot. Therefore, there is a lot of research on the autonomous locomotion. The robot with two independent driving wheels has a nonholonomic constraint in its model, so that it needs a specific control method when controlling it. In this research, we use an invariant manifold for solving such a nonholonomic constraint. The controller based an invariant manifold can converge the state of the controlled object to an arbitrary target position. In addition, it can also move taking account of an obstacle position by combining it with the gradient of 'harmonic potential field' (HPF). On the other hand, it was confirmed in the previous research that there is the case that the robot cannot avoid the obstacle because there are not enough space to converge the state to the target state. In this paper, it is verified that the robot can converge to the target position while avoiding obstacles by dividing the target position into some pieces and moving step by step.

Original languageEnglish
Title of host publicationProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6247-6251
Number of pages5
Volume2017-January
ISBN (Electronic)9781538611272
DOIs
Publication statusPublished - Dec 15 2017
Event43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
Duration: Oct 29 2017Nov 1 2017

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period10/29/1711/1/17

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

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  • Cite this

    Motonaka, K., Watanabe, K., & Maeyama, S. (2017). An improved method for the kinodynamic motion controller in a two-wheeled drive mobile robot. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (Vol. 2017-January, pp. 6247-6251). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8217086