Linear Motion Control of an Underactuated Spherical Mobile Robot

Zhan, Qiang; Xing, Chi; Xi, Xi

doi:10.4028/www.scientific.net/amm.644-650.351

Cited by 2 publications

(2 citation statements)

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“…Multiplying R 0 on both sides of Equation ( 10) can change the shaking camera to a stable state. This is equivalent to transforming the extrinsic matrix of camera, limiting the three degrees of freedom of rotation to our desired state, as shown in Equation (11):…”

Section: Monitoring Systemmentioning

confidence: 99%

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Spherical robot: A novel robot for exploration in harsh unknown environments

Ren,

Wang,

Liu

et al. 2023

IET Cyber-Syst and Robotics

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The authors propose a complete software and hardware framework for a novel spherical robot to cope with exploration in harsh and unknown environments. The proposed robot is driven by a heavy pendulum covered by a fully enclosed spherical shell, which is strongly protected, amphibious, anti‐overturn and has a long‐battery‐life. Algorithms for location and perception, planning and motion control are comprehensively designed. On the one hand, the authors fully consider the kinematic model of a spherical robot, propose a positioning algorithm that fuses data from inertial measurement units, motor encoder and Global Navigation Satellite System, improve global path planning algorithm based on Hybrid A* and design an instruction planning controller based on model predictive control (MPC). On the other hand, the dynamic model is built, linear MPC and robust servo linear quadratic regulator algorithm is improved, and a speed controller and a direction controller are designed. In addition, based on the pose and motion characteristics of a spherical robot, a visual obstacle perception algorithm and an electronic image stabilisation algorithm are designed. Finally, the authors build physical systems to verify the effectiveness of the above algorithms through experiments.

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Section: Monitoring Systemmentioning

confidence: 99%

“…In recent years, research focus of spherical robots has gradually shifted to motion control [10]. More studies were based on proportional-integral-derivative (PID) controllers [11,12]. They were free from complex dynamic models, but were troubled by low control accuracy, large overshoot and long setting time.…”

Section: Introductionmentioning

confidence: 99%