Johannes Kilian, Hubert Gattringer, Klemens Springer, Hartmut Bremer,
"Design, Modeling and Control of a Self-Balancing Two-Wheeled Vehicle"
, in Wilfried Kubinger, Alexander Hofmann, Friedrich Praus: Proceedings of the Austrian Robotics Workshop 2013, Seite(n) 31-36, 5-2013, ISBN: 978-3-200-03095-4
Original Titel:
Design, Modeling and Control of a Self-Balancing Two-Wheeled Vehicle
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of the Austrian Robotics Workshop 2013
Original Kurzfassung:
The following contribution introduces the design, modeling and control of a two-wheeled self-balancing vehicle. This mobile robot is about 60cm tall and uses two wheels actuated by two DC gear drives to execute transport tasks. An embedded board and a microcontroller enable the control of the wheels and assume the path planning. Several sensors, such as a Microsoft Kinect as well as a gravitation and an angular rate sensor, stabilize the robot and make a communication between robot and humans possible. Due to the nonholonomic constraints of the wheels, only few modeling methods are feasible. The obtained model serves as basis for the following control design. A flatnessbased approach provides an excellent possibility to follow a trajectory, but requires an underlaid velocity controller and continuous cur-vature paths. The combination of the well designed trajectory controller and the applied paths, which are composed by straight lines, circles and clothoids, enable a good performance in simulation and experiment.
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