Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30174
Dual Mode Navigation for Two-Wheeled Robot

Authors: N.M Abdul Ghani, L.K. Haur, T.P.Yon, F Naim

Abstract:

This project relates to a two-wheeled self balancing robot for transferring loads on different locations along a path. This robot specifically functions as a dual mode navigation to navigate efficiently along a desired path. First, as a plurality of distance sensors mounted at both sides of the body for collecting information on tilt angle of the body and second, as a plurality of speed sensors mounted at the bottom of the body for collecting information of the velocity of the body in relative to the ground. A microcontroller for processing information collected from the sensors and configured to set the path and to balance the body automatically while a processor operatively coupled to the microcontroller and configured to compute change of the tilt and velocity of the body. A direct current motor operatively coupled to the microcontroller for controlling the wheels and characterized in that a remote control is operatively coupled to the microcontroller to operate the robot in dual navigation modes.

Keywords: Two-Wheeled Balancing Robot, Dual Mode Navigation, Remote Control, Desired Path.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1072597

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1800

References:


[1] Grasser,F.., D-Arrigo, S.Colombi, and Rufer, A. Joe: A mobile Inverted Pendulum. Proceedings of the 2002 IEEE Trans. Electronics. Vol.49, no 1. February. Lausanne, Switzerland: IEEE, 2002. 107-104
[2] nBot Balancing Robot. Available at:http://www.geology.smu.edu/~dpawww/ robo/nbot/
[3] 17ndJAN2003,steve-s LegwayURL http://www.teamhassenplug.org/robots/legway/
[4] Miller Peter (2008), "Building a Two Wheeled Balancing Robot", University of Southern Queensland, Faculty of Engineering and Surveying. Retrieved Nov 18, 2009. Available at: http://eprints.usq.edu.au/6168/
[5] Zatil Hanan Binti Ahmad Lutpi (2009). Position Control of Two Wheeled Inverted Pendulum. Universiti Teknologi Malaysia: Thesis B. Electrical Engineering (Control & Instrumentation)
[6] Herdawatie binti Abdul Kadir (Nov 2005). Modelling and Control of a Balancing Robot using Digital State Space Approach, Master Thesis, Universiti Teknologi Malaysia
[7] Ong, Yin Chee; Abidin, M.S.B (2006). "Design and Development of Two Wheeled Autonomous Balancing Robot", Center for Artificial Intell. & Robotic (CAIRO), University Technology Malaysia, Kuala Lumpur. 4th Student Conference on Research and Development (SCOReD 2006), Shah Alam, Selangor, MALAYSIA, 27-28 June, 2006.
[8] Ooi, Rich Chi (2003). "Balancing a Two-Wheeled Autonomous Robot". University of Western Australia. Thesis B. Mechatronics Engineering.