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Carnegie Mellon Robotics Institute

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Abstract

This paper presents controllers called motion policies that achieve fast, graceful motions in small, collision-free domains of the position space for balancing mobile robots like the ballbot. The motion policies are designed such that their valid compositions will produce overall graceful motions. An automatic instantiation procedure deploys motion policies on a 2D map of the environment to form a library and the validity of their composition is given by a gracefully prepares graph. Dijsktra’s algorithm is used to plan in the space of these motion policies to achieve the desired navigation task. A hybrid controller is used to switch between the motion policies. The results of successful experimental testing of two navigation tasks, namely, point-point and surveillance motions on the ballbot platform are presented.

Keywords

Balancing Robots, Underactuated Systems, Ballbot, Integrated Planning and Control, Hybrid Control, Motion Planning, Graceful Navigation

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, "Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2012, pp. 136-141.

BibTeX Reference

@inproceedings{Nagarajan_2012_7064,
   author = "Umashankar Nagarajan and George A Kantor and Ralph Hollis",
   title = "Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
   pages = "136-141",
   month = "May",
   year = "2012",
}

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