Path following with an underactuated self-balancing spherical-wheel mobile robot

Ali Nail Inal, Ö. Morgül, U. Saranlı
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引用次数: 3

Abstract

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.
欠驱动自平衡球轮移动机器人路径跟踪
反应性运动规划方法在机器人系统存在大扰动时具有鲁棒性优势。不幸的是,这些反应性方法很难推广到欠驱动系统,现有的研究主要集中在基于动态可行轨迹高增益跟踪的解决方案上。带有球形轮的自平衡移动机器人BallBot平台是这种欠驱动机构的丰富例子,传统的运动规划是通过对驱动系统状态的轨迹跟踪来完成的,对非直接控制的外部状态几乎没有显式反馈。在本文中,我们针对这些平台的外部状态提出了一种响应路径跟踪控制器,消除了跟踪时间参数化状态轨迹的需要。我们首先定义一般的路径跟踪问题,并介绍如何通过现有的BallBot形态学的二维控制器的并行组合来实现它。然后,我们在模拟中展示了如何使用该思想来实现具有恒定向前速度的线性路径的渐近收敛。我们还展示了如何将基本思想推广到更复杂的路径形状,如圆,最终部署在基于顺序构图的更完整的运动规划框架中。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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