Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot

Umashankar Nagarajan, George A. Kantor, and Ralph Hollis
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), May, 2009, pp. 3743-3748.


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Abstract
The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with nonholonomic dynamic constraints. The authors propose an offline trajectory planning algorithm that provides a class of parametric trajectories to the unactuated joint in order to reach desired static configurations of the system with regard to the dynamic constraint. The parameters of the trajectories are obtained using optimization techniques. A feedback controller is proposed that ensures accurate trajectory tracking. The trajectory planning algorithm and tracking controller are validated experimentally. The authors also extend the offline trajectory planning algorithm to a generalized case of motion between non-static configurations.

Keywords
Dynamically Stable Mobile Robots, Underactuated systems, Dynamic Constraints, Trajectory Planning and Control, Trajectory Optimization

Notes
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory
Associated Project(s): Dynamically-Stable Mobile Robots in Human Environments
Number of pages: 6

Text Reference
Umashankar Nagarajan, George A. Kantor, and Ralph Hollis, "Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot," Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), May, 2009, pp. 3743-3748.

BibTeX Reference
@inproceedings{Nagarajan_2009_6376,
   author = "Umashankar Nagarajan and George A Kantor and Ralph Hollis",
   title = "Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot",
   booktitle = "Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009)",
   pages = "3743-3748",
   month = "May",
   year = "2009",
}