Modeling and control of two-wheeled vehicles using active caster wheels
- Title
- Modeling and control of two-wheeled vehicles using active caster wheels
- Author
- Agrawal, Sunil K.
- Keywords
- Actively driven caster wheels; autonomous mobile robots; differential flatness
- Issue Date
- 2009-07
- Publisher
- IEEE/ASME
- Citation
- 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
- Abstract
- Conventionally, caster wheels are placed underneath a vehicle to provide passive support. The caster wheels do not additionally restrict the vehicle's mobility. Inspired by the success of a commercial funboard RipStik, we explore the use of actively driven caster wheels within autonomous mobile robots. Specifically, we explore the nature of the governing equations of a vehicle with caster wheels having possible angular offsets. We study properties of the vehicle such as feedback linearizability and controller development for point-to-point control of the vehicle in the state space.
- URI
- https://ieeexplore.ieee.org/document/5229809https://repository.hanyang.ac.kr/handle/20.500.11754/104046
- ISBN
- 978-1-4244-2852-6
- ISSN
- 2159-6247
- DOI
- 10.1109/AIM.2009.5229809
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > MECHANICAL ENGINEERING(기계공학과) > Articles
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