Howon Lee, Youngkuk Kwon, and Jangmyung Lee
Inverted pendulum robot, optimal posture control, attitude reference system, hill climbing, Segway
This paper proposes a hill climbing control algorithm for a two-wheel mobile inverted pendulum robot which has the same structure as the Segway. Conventional studies are mostly concentrated on the robust control of a mobile inverted pendulum on a flat surface, i.e., highly focused on the compensation of the gyroscope signals. This newly proposed algorithm deals with a hill climbing control algorithm based on the dynamic modeling of the inverted pendulum robot. During the climbing control of the robot, unexpected disturbance forces are caused by the irregular contact states which come from the irregular contact angle between the wheel and the terrain. To overcome the slope and maintain the desired velocity, the optimal posture of the mobile inverted pendulum robot is determined for the given slant angle. The dynamics equations through physical interpretations are derived to select the optimum climbing posture based upon the attitude reference system (ARS). Also, the slope information is obtained to compensate for the force of gravity using ultrasonic sensors. The control inputs are dynamically adjusted to climb up the slanted surface and to keep the desired velocity with the pre-determined ARS effectively. The proposed algorithm is verified and demonstrated through real experiments. Development of this hill climbing scheme will open the usage of autonomous Segway in more general environments.
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