Low cost autonomous navigation and control of a mechanically balanced bicycle with dual locomotion mode

Pandey, Ayush; Mahajan, Subhamoy; Kosta, Adarsh Kumar; Yadav, D.; Pandey, Vikas; Sahay, Saurav; Jha, Siddharth; Agarwal, Shubh; Bhise, Aashay Anil; Kumar, Raushan; Bhushan, Aniket; Parikh, Vraj; Lohani, Ankit; Dash, Saurabh; Choudhary, Himanshu; Kumar, Rahul; Sharma, Anurag; Mondal, Arnab Kumar; Sai, Chendika Karthik; Vamshi, P N

doi:10.1109/itec-india.2015.7386938

Cited by 2 publications

(2 citation statements)

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“…The BLDC is in an outer closed loop control as shown in the velocity control system block diagram in Fig. (2). We aimed to design a controller which achieves optimal performance for a step input.…”

Section: Objectivesmentioning

confidence: 99%

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Modeling and Control of an Autonomous Three Wheeled Mobile Robot with Front Steer

Pandey

Jha

Chakravarty

2017

2017 First IEEE International Conference on Robotic Computing (IRC)

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Modeling and control strategies for a design of an autonomous three wheeled mobile robot with front wheel steer is presented. Although, the three-wheel vehicle design with front wheel steer is common in automotive vehicles used often in public transport, but its advantages in navigation and localization of autonomous vehicles is seldom utilized. We present the system model for such a robotic vehicle. A PID controller for speed control is designed for the model obtained and has been implemented in a digital control framework. The trajectory control framework, which is a challenging task for such a three-wheeled robot has also been presented in the paper. The derived system model has been verified using experimental results obtained for the robot vehicle design. Controller performance and robustness issues have also been discussed briefly.

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Section: Objectivesmentioning

confidence: 99%

“…An example is the research on three-wheeled self-driving trikes [1] with an aerodynamic design which could effectively be deployed in the future for shared public transport. Similar is the design of a passively stabilized bicycle [2]. Mercedes-Benz are working on an electric vehicle [3] with a related mechanical design.…”

Section: Introductionmentioning

confidence: 99%