Motion planning of a spherical robot using eXtended Classifier Systems

Modelling and control of a non‐holonomic pendulum‐driven spherical robot moving on an inclined plane: simulation and experimental results

“…Optimal motion planning and control of a spherical mobile robot using Bellman's dynamic programming methodology was recently developed [32–34]. As well, based on reinforcement learning algorithm and the notion of learning agents, a direct approach to motion planning of a spherical robot was proposed [35, 36]. A novel omnidirectional spherical robot, with a driven ball installed inside the spherical shell, was designed and implemented, too [37].…”

The Motion Planning for Spherical Robot with Two Motors

“…Motion planning strategy, composed of two trivial and one nontrivial maneuver, has been studied for a spherical rolling robot which actuated by two internal rotors that are placed on orthogonal axes [1]. The authors proposed a direct approach to motion planning based on the notion of "Learning Agents" wherein the motions of the robot at consecutive time-steps are determined by a set of condition-action rules that embody the agent [2]. A prototype and analytical studies of a spherical rolling robot driven by two remotely controlled, internally mounted rotors that induce the ball to roll and spin on a flat surface are described [3].…”