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 language | English |
|---|---|
| Title of host publication | Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 6247-6251 |
| Number of pages | 5 |
| Volume | 2017-January |
| ISBN (Electronic) | 9781538611272 |
| DOIs | |
| Publication status | Published - Dec 15 2017 |
| Event | 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China Duration: Oct 29 2017 → Nov 1 2017 |
Other
| Other | 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 |
|---|---|
| Country | China |
| City | Beijing |
| Period | 10/29/17 → 11/1/17 |
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ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Control and Optimization
- Energy Engineering and Power Technology
- Electrical and Electronic Engineering
Cite this
An improved method for the kinodynamic motion controller in a two-wheeled drive mobile robot. / Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi.
Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. p. 6247-6251.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An improved method for the kinodynamic motion controller in a two-wheeled drive mobile robot
AU - Motonaka, Kimiko
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
PY - 2017/12/15
Y1 - 2017/12/15
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85046663606&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85046663606&partnerID=8YFLogxK
U2 - 10.1109/IECON.2017.8217086
DO - 10.1109/IECON.2017.8217086
M3 - Conference contribution
AN - SCOPUS:85046663606
VL - 2017-January
SP - 6247
EP - 6251
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
ER -