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Journal articles on the topic 'Unicycle robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 27 July 2025

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1

Zhang, Yang, Hongzhe Jin, and Jie Zhao. "Dynamic Balance Control of Double Gyros Unicycle Robot Based on Sliding Mode Controller." Sensors 23, no. 3 (2023): 1064. http://dx.doi.org/10.3390/s23031064.

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This paper presents a doublegyroscope unicycle robot, which is dynamically balanced by sliding mode controller and PD controller based on its dynamics. This double−gyroscope robot uses the precession effect of the double gyro system to achieve its lateral balance. The two gyroscopes are at the same speed and in reverse direction so as to ensure that the precession torque of the gyroscopes does not interfere with the longitudinal direction of the unicycle robot. The lateral controller of the unicycle robot is a sliding mode controller. It not only maintains the balance ability of the unicycle r

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2

Nguyen, Thi-Ai-Van, Dinh-Hau Vu, Ha-Gia-Huy Nguyen, et al. "A Method of LQR Using Velocity Control for Unicycle Robot." Robotica & Management 29, no. 2 (2024): 16–25. https://doi.org/10.24193/rm.2024.2.3.

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This study explores the use of Linear Quadratic Regulator (LQR) control to stabilize a unicycle robot, a key example within the unicycle-type mobile robot category. Despite its inherent instability, the unicycle robot offers notable advantages over multi-wheeled, statically stable designs, including reduced spatial requirements due to its single ground contact point. The system is modeled using two axes: the roll axis, represented as an inverted pendulum managed by the wheel, and the pitch axis, modeled as a reaction wheel inverted pendulum controlled by a reaction disk. LQR is recognized as a

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3

Tanaka, Takayuki, Hisanobu Suzuki, and Kazuo Tanaka. "Principle of Stable Running of an Unicycle Robot." Journal of Robotics and Mechatronics 14, no. 1 (2002): 37–45. http://dx.doi.org/10.20965/jrm.2002.p0037.

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In previous papers, we reported the world's first success in the driving of a human-riding-type unicycle with postural stability. However, the robotic unicycle was connected with a computer, motor drives, and a power source through electric cables. It was made clear by our experiments that the stability and dynamic behavior of the unicycle were largely affected by these extension cables, and the driving distance was also limited. This paper reports the development of an extension cable-less unicycle including the design of its control system and the principle of unicycle running. Firstly, an i

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4

EL Kinany, Boutaina, Mohamed Alfidi, and Zakaria Chalh. "Fuzzy Logic Control for Balancing a Two-Armed Inverted Pendulum." Statistics, Optimization & Information Computing 11, no. 1 (2023): 136–42. http://dx.doi.org/10.19139/soic-2310-5070-1548.

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The unicycle robot is an activated model with only one wheel, which ensures its safety. Researchers were particularly interested in the unicycle robot because of its great robustness, which allows it to travel around without colliding with the ground. The inverted pendulum having two arms is modelled using a mathematical representation based on the Lagrangian formulation in this work, which embodies our concept of the unicycle robot. The fuzzy logic control algorithm will then be used to produce a high level of solidity for this system.

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Benaoumeur, Ibari, Benchikh Laredj, Haniﬁ Elhachimi Amar Reda, and Ahmed-foitih Zoubir. "Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking." Indonesian Journal of Electrical Engineering and Computer Science 2, no. 3 (2016): 478. http://dx.doi.org/10.11591/ijeecs.v2.i3.pp478-485.

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This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile robots. The main object of the control algorithms developed is to design a robust output tracking controller. The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicycle-like mobile robot is used to provides the desired values of the linear and angular velocities for the given trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking errors. Simulation and experimental results show the effectiven

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Suzuki, Hisanobu, Shunji Moromugi, and Takeshi Okura. "Development of Robotic Unicycles." Journal of Robotics and Mechatronics 26, no. 5 (2014): 540–49. http://dx.doi.org/10.20965/jrm.2014.p0540.

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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/02.jpg"" width=""300"" />Robotic Unicycle in stable driving</div> This paper introduces the first successful development of a robotic unicycle imitating a human rider. The robot consists of a body supported on a single wheel, a closed linkage on each side of the body to drive the wheel, and a rotor on the top. The effects of the closed link, gyro effect, centrifugal force, and reaction torque of the rotor on the robot’s stability and direction were investigated in simulations and experiments. Stabi

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7

Basal, Mohamed Abdelhakim, and Mohammed Fadhil Ahmed. "Mathematical Modeling of a Unicycle Robot and Use of Advanced Control Methodologies for Multi-Paths Tracking Taking into Account Surface Friction Factors." Journal of Robotics and Control (JRC) 6, no. 1 (2025): 142–54. https://doi.org/10.18196/jrc.v6i1.24361.

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The research aims to design robust controllers that achieve the stability of a single-wheeled robot under the presence of friction factors and to track different parameters to verify robust stability. This paper presents a new study of the unicycle robot system that is controlled using advanced control methodologies. The paper aims to improve the work of the unicycle robot system, due to its effective impact on improving the performance of driving the robot, which is reflected in the smoothness of the vehicle speed change, ensuring the stability of the robot and the safety of the investor in t

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8

Nguyen, Van Dong Hai, Thanh-Dong Pham, Manh-Tuan Tran, et al. "A METHOD OF PD CONTROL FOR BALANCING A UNICYCLE ROBOT." Indonesian Journal of Engineering and Science 4, no. 1 (2023): 013–24. http://dx.doi.org/10.51630/ijes.v4i1.81.

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Unicycle is a robot that imitates a performance of a circus artist on a one-wheeled self-balancing bicycle. This research assumes that this model is equivalent to two separated popular models: a two-wheeled self-balancing robot and reaction wheeled inverted pendulum. On each model, we build a PD controller. Thence, we present a structure of PD controllers to balance this model at the equilibrium point. We also build an experimental unicycle robot for the laboratory. Our method is proven to work well based on both simulation and experiment.

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9

UKIYA, Kazutaka, Taro SEKINE, and Michiharu OKANO. "The Control Analysis of Unicycle Robot." Proceedings of Conference of Kanto Branch 2002.8 (2002): 381–82. http://dx.doi.org/10.1299/jsmekanto.2002.8.381.

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10

HAYASHIMOTO, Kazuya, and Osamu WATANABE. "211 Motion control of unicycle robot." Proceedings of Conference of Tokai Branch 2014.63 (2014): _211–1_—_211–2_. http://dx.doi.org/10.1299/jsmetokai.2014.63._211-1_.

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11

Bouzgou, kamel, benaoumeur Ibari, laredj Benchikh, and Zoubir Ahmed-foitih. "Integral Backstepping Approach for Mobile Robot Control." TELKOMNIKA Telecommunication, Computing, Electronics and Control 15, no. 3 (2017): 1173–80. https://doi.org/10.12928/TELKOMNIKA.v15i3.5667.

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This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the desig

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12

Ruan, Xiao Gang, and Qi Yuan Wang. "Dynamic Modeling of Single-Wheeled Robot." Advanced Materials Research 383-390 (November 2011): 447–52. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.447.

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This paper presents a kind of single-wheeled robot (SWR, unicycle robot). Lagrange approach is used to formulate the dynamic model of the robot moving in 3 dimensions. The result of model simulation is consistent with the physical. The proposed dynamic model provides some theoretical basis for designing and controlling SWR.

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13

Sheng, Zaiquan, and Kazuo Yamafuji. "Stability and Motion Control of a Unicycle (1st Report: Dynamics of a Human Riding Unicycle and Its Modeling by Link Mechanisms)." Journal of Robotics and Mechatronics 6, no. 2 (1994): 175–82. http://dx.doi.org/10.20965/jrm.1994.p0175.

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In this paper, the dynamic characteristics of a human riding a unicycle are first analyzed by observation.: Based on observation and analysis, we discovered that the rider's body, thighs and shanks create two closed link loops; and this special mechanism plays an important role in the stability of the unicycle. We then developed a new model with two closed link mechanisms and one turntable to emulate a human riding a unicycle by a robot. Considering the nonholonomic constraint between the wheel and ground and applying recently developed general method to compute the multi-closed link mechanism

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De La Cruz, Celso, and Ricardo Carelli. "Dynamic model based formation control and obstacle avoidance of multi-robot systems." Robotica 26, no. 3 (2008): 345–56. http://dx.doi.org/10.1017/s0263574707004092.

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SUMMARYThis work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a

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15

Rosales, Andrés, Gustavo Scaglia, Vicente Mut, and Fernando di Sciascio. "Trajectory tracking of mobile robots in dynamic environments—a linear algebra approach." Robotica 27, no. 7 (2009): 981–97. http://dx.doi.org/10.1017/s0263574709005402.

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SUMMARYA new approach for navigation of mobile robots in dynamic environments by using Linear Algebra Theory, Numerical Methods, and a modification of the Force Field Method is presented in this paper. The controller design is based on the dynamic model of a unicycle-like nonholonomic mobile robot. Previous studies very often ignore the dynamics of mobile robots and suffer from algorithmic singularities. Simulation and experimentation results confirm the feasibility and the effectiveness of the proposed controller and the advantages of the dynamic model use. By using this new strategy, the rob

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Rosales, Andrés, Gustavo Scaglia, Vicente Mut, and Fernando di Sciascio. "Formation control and trajectory tracking of mobile robotic systems – a Linear Algebra approach." Robotica 29, no. 3 (2010): 335–49. http://dx.doi.org/10.1017/s0263574710000068.

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SUMMARYA novel approach for trajectory tracking of a mobile-robots formation by using linear algebra theory and numerical methods is presented in this paper. The formation controller design is based on the formation states concept and the dynamic model of a unicycle-like nonholonomic mobile robot. The proposed control law designed is decentralized and scalable. Simulations and experimental results confirm the feasibility and the effectiveness of the proposed controller and the advantages of using the dynamic model of the mobile robot. By using this new strategy, the formation of mobile robots

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17

Savkin, Andrey V., and Chao Wang. "A simple biologically inspired algorithm for collision-free navigation of a unicycle-like robot in dynamic environments with moving obstacles." Robotica 31, no. 6 (2013): 993–1001. http://dx.doi.org/10.1017/s0263574713000313.

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SUMMARYWe present a simple biologically inspired strategy for the navigation of a unicycle-like robot towards a target while avoiding collisions with moving obstacles. A mathematically rigorous analysis of the proposed approach is provided. The performance of the algorithm is demonstrated via experiments with a real robot and extensive computer simulations.

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18

Han, In-Woo, Jong-Myung Hwang, Seong-Ik Han, and Jangmyung Lee. "Dynamic Speed Control of a Unicycle Robot." Journal of Institute of Control, Robotics and Systems 19, no. 1 (2013): 1–9. http://dx.doi.org/10.5302/j.icros.2013.19.1.001.

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19

Giron-Nieto, Huber, Oliver Ochoa-García, Eduardo Hernandez-Martinez, et al. "Cyber-Physical Multi-Robot Formation: Virtual Agents Approach and Low-Cost Experiments." Memorias del Congreso Nacional de Control Automático 6, no. 1 (2023): 507–12. http://dx.doi.org/10.58571/cnca.amca.2023.105.

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A cyber-physical formation includes all the strategies to coordinate mobile robots moving in different physical workspaces sharing information through internet and the cloud. This work addresses a formation scheme of robots moving in two different workspaces. The control strategy is based on virtual agents used like ”avatars” which must converge to the position of the robots in the opposite workspace. The control approach is designed for robots modeled as single integrators and extended to the case of unicycle-type robots. Results of numerical simulations and real experiments are shown using a

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20

Savkin, Andrey V., and Michael Hoy. "Reactive and the shortest path navigation of a wheeled mobile robot in cluttered environments." Robotica 31, no. 2 (2012): 323–30. http://dx.doi.org/10.1017/s0263574712000331.

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SUMMARYWe determine the shortest (minimal in length) path on a unicycle-like mobile robot in a known environment with smooth (possibly non-convex) obstacles with a constraint on curvature of their boundaries. Furthermore, we propose a new reactive randomized algorithm of robot navigation in unknown environment and prove that the robot will avoid collisions and reach a steady target with probability 1. The performance of our algorithm is confirmed by computer simulations and outdoor experiments with a Pioneer P3-DX mobile wheeled robot.

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Tchoń, Krzysztof, Joanna Karpińska, and Mariusz Janiak. "Approximation of Jacobian inverse kinematics algorithms." International Journal of Applied Mathematics and Computer Science 19, no. 4 (2009): 519–31. http://dx.doi.org/10.2478/v10006-009-0041-3.

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Approximation of Jacobian inverse kinematics algorithmsThis paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theore

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22

de Souza Cardoso, Gildeberto, Leizer Schnitman, José Valentim dos Santos Filho, and Luiz Carlos Simões Soares Júnior. "Restriction of Transverse Feedback Linearization for Piecewise Linear Paths." Mathematical Problems in Engineering 2021 (January 29, 2021): 1–8. http://dx.doi.org/10.1155/2021/8270793.

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This work presents a path-following controller for a unicycle robot. The main contribution of this paper is to demonstrate the restriction of transverse feedback linearization (TFL) to obtuse angles on piecewise linear paths. This restriction is experimentally demonstrated on a Kobuki mobile robot, where it is possible to observe, as a result of the limitation of the TFL, the convergence to another domain of attraction.

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Daud, Yohanes, Abdullah Al Mamun, and Jian-Xin Xu. "Dynamic modeling and characteristics analysis of lateral-pendulum unicycle robot." Robotica 35, no. 3 (2015): 537–68. http://dx.doi.org/10.1017/s0263574715000703.

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SUMMARYLateral-pendulum unicycle robot is a type of single-wheeled mobile robot which utilizes an inverted pendulum mounted laterally for its stabilization and control. Even though this concept was first mentioned in the 1980s, it has not been sufficiently explored especially from the theoretical point of view. Therefore, this robot represents a niche which is still open for more thorough research. This paper presents four contributions to the research of this particular robot. First, the complete model of the robot dynamics is derived and this model can facilitate more accurate study of the r

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Jin, Hongzhe, Yang Zhang, Hui Zhang, et al. "Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model." Mathematical Problems in Engineering 2018 (November 18, 2018): 1–13. http://dx.doi.org/10.1155/2018/5240594.

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This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the an

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DAO, Minh-Quan, and Kang-Zhi LIU. "Gain-Scheduled Stabilization Control of a Unicycle Robot." JSME International Journal Series C 48, no. 4 (2005): 649–56. http://dx.doi.org/10.1299/jsmec.48.649.

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Vu, Dinh-Hau, Thi-Ai-Van Nguyen, Vo-Minh-Dang Ly, et al. "A Survey of Linear Control for Unicycle Robot." Robotica & Management 29, no. 1 (2024): 45–54. http://dx.doi.org/10.24193/rm.2024.1.8.

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Mobile robots are a subject that researchers have been developing a lot. Most of the research mainly on two-wheeled balanced robots use PID, LQR controllers, …. Currently, products such as bicycle unicycles, one wheel scooter are becoming more and more popular in many countries. In this article, our research group covers the construction of kinematic and dynamic mathematical equations, design of PID and LQR controllers using MATLAB/ Simulink.

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Giron-Nieto, Huber, Eduardo Gamaliel Hernandez-Martinez, Guillermo Fernandez-Anaya, et al. "Cyber–Physical Multi-Robot Formation with a Communication Delays and a Virtual Agent Approach." Electronics 14, no. 9 (2025): 1869. https://doi.org/10.3390/electronics14091869.

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A cyber–physical multi-robot system integrates robotic agents that share data over communication networks in real time to achieve common objectives by making decisions collectively based on the knowledge of their surroundings. This work introduces a formation control strategy for two groups of mobile robots placed in two separate workspaces connected by a communication network. The control technique generates two similar formations on each workspace using virtual agents that mirror the behavior of the corresponding physical robot in the opposite workspace. Control laws are derived for a single

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Bechlioulis, Charalampos P., Panagiotis Vlantis, and Kostas J. Kyriakopoulos. "Coordination of Multiple Robotic Vehicles in Obstacle-Cluttered Environments." Robotics 10, no. 2 (2021): 75. http://dx.doi.org/10.3390/robotics10020075.

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In this work, we consider the motion control problem for a platoon of unicycle robots operating within an obstacle-cluttered workspace. Each robot is equipped with a proximity sensor that allows it to perceive nearby obstacles as well as a camera to obtain its relative position with respect to its preceding robot. Additionally, no robot other than the leader of the team is able to localize itself within the workspace and no centralized communication network exists, i.e., explicit information exchange between the agents is unavailable. To tackle this problem, we adopt a leader–follower architec

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Zhu, Xiaorui, Mark A. Minor, and Sungyong Park. "Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots." Journal of Dynamic Systems, Measurement, and Control 128, no. 3 (2006): 489–98. http://dx.doi.org/10.1115/1.2229254.

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A distributed robust controller for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability without additional hardware. In this research, a distributed nonlinear damping controller using backstepping techniques for wheel-torque control is first developed for single-axle unicycle type robots. The controller is then extended to multiple-axle CFMMR configurations and is robust to disturbances created by modeling errors; es

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Boucetta, Younes, Redouane Ayad та Zoubir Ahmed-Foitih. "Control of mobile robot using fractional order PI^λD^μ controller". ECTI Transactions on Electrical Engineering, Electronics, and Communications 17, № 2 (2019): 144–51. http://dx.doi.org/10.37936/ecti-eec.2019172.219185.

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The ideal example for studying complex systems with non-holonomic constraints is mobile-wheeled robots. In this article, we study the problem of trajectory tracking of mobile robot unicycle type. To resolve this type of problem a fractional-order control technique is proposed. The main objective of this control method is to design a robust tracking controller to eliminate disturbances. The mathematical model of the mobile robot taken explicitly into account their dynamics is used to calculate the desired linear and angular velocities. To adjust the controller optimal parameters the particle sw

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Kowalczyk, W., M. Michałek, and K. Kozłowski. "Trajectory tracking control with obstacle avoidance capability for unicycle-like mobile robot." Bulletin of the Polish Academy of Sciences: Technical Sciences 60, no. 3 (2012): 537–46. http://dx.doi.org/10.2478/v10175-012-0066-x.

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Abstract In this paper the trajectory tracking control algorithm with obstacle avoidance capability is presented. As a robot gets into a neighborhood of the obstacle, the collision avoidance behavior is turned on. It is implemented using the artificial potential function (APF) that increases to infinity as the robot approaches a boundary of the obstacle. This feature guarantees collision avoidance. As avoidance behavior is active only in the neighborhood of the obstacle it does not affect the motion when there is no risk of the collision. Authors show that trajectory of the robot converges to

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Radwen, Bahri, Boucetta Rahma, and Bel Hadj Ali Naoui Saloua. "A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DUCK WALKING (GYROSCOPIC NAVIGATION)." International Journal of Advance Robotics & Expert Systems (JARES) 1, December 2018 (2018): 1–13. https://doi.org/10.5281/zenodo.2532882.

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This paper deals with the design and the implementation of a novel navigation strategy for an unicycle mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop. Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name "gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different components are given. An experimental identification for the useful parameters are then exhibited. Moreover, the controller design strategy and the simulation results are

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Sheng, Zaiquan, Kazuo Yamafuji, and Sergei V. Ulyanov. "Study of the Stability and Motion Control of a Unicycle (5th Report: Experimental Results by Fuzzy Gain Schedule PD Controllers)." Journal of Robotics and Mechatronics 8, no. 6 (1996): 571–79. http://dx.doi.org/10.20965/jrm.1996.p0571.

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In this paper, the use of three gyrosensors for detection of a unicycle robot's posture in three dimensions, and experiments on the unicycle robot's postural stability control are conducted with fuzzy gain schedule PD control. Experimental results show that both the robot's longitudinal and lateral posture can be stabilized successfully. Comparing the experimental results with one PD and one D controller, those by two fuzzy gain schedule PD controllers are much better. Real-time experimental results indicate that the fuzzy gain schedule PD control proposed here is quite effective in robot post

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Sheng, Zaiquan, Kazuo Yamafuji, and Sergei V. Ulyanov. "Study on the Stability and Motion Control of a Unicycle : 3rd Report, Characteristics of Unicycle Robot." JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing 39, no. 3 (1996): 560–68. http://dx.doi.org/10.1299/jsmec1993.39.560.

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Abbasi, Waseem, and Fazal ur Rehman. "Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems." Mathematical Problems in Engineering 2016 (2016): 1–11. http://dx.doi.org/10.1155/2016/9617283.

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This article presents adaptive integral sliding mode control algorithm for the stabilization of nonholonomic drift-free systems. First the system is transformed, by using input transform, into a special structure containing a nominal part and some unknown terms which are computed adaptively. The transformed system is then stabilized using adaptive integral sliding mode control. The stabilizing controller for the transformed system is constructed that consists of the nominal control plus a compensator control. The compensator control and the adaptive laws are derived on the basis of Lyapunov st

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Kim, Sung-Ha, Jae-Oh Lee, Jong-Myung Hwang, Bu-Hwan Ahn, and Jang-Myung Lee. "Dynamic Modeling and Performance Improvement of a Unicycle Robot." Journal of Institute of Control, Robotics and Systems 16, no. 11 (2010): 1074–81. http://dx.doi.org/10.5302/j.icros.2010.16.11.1074.

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Lee, Jong Hyun, Hye Jung Shin, and Seul Jung. "Balancing Control of a Unicycle Robot using Ducted Fans." Journal of Institute of Control, Robotics and Systems 20, no. 9 (2014): 895–99. http://dx.doi.org/10.5302/j.icros.2014.14.0055.

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Noijen *, S. P. M., P. F. Lambrechts, and H. Nijmeijer. "An observer-controller combination for a unicycle mobile robot." International Journal of Control 78, no. 2 (2005): 81–87. http://dx.doi.org/10.1080/00207170500036050.

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TATEISHI, Kazuya, and Osamu WATANABE. "104 Stable Control of Unicycle Robot with Inertia Rotor." Proceedings of Conference of Tokai Branch 2012.61 (2012): _104–1_—_104–2_. http://dx.doi.org/10.1299/jsmetokai.2012.61._104-1_.

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Anogiatis, Spyridon, Panagiotis S. Trakas, and Charalampos P. Bechlioulis. "Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints." Electronics 13, no. 11 (2024): 2128. http://dx.doi.org/10.3390/electronics13112128.

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This paper presents a distributed approach to the motion control problem for a platoon of unicycle robots moving through an unknown environment filled with static obstacles under multiple hard and soft operational constraints. Each robot has an onboard camera to determine its relative position in relation to its predecessor and proximity sensors to detect and avoid nearby obstascles. Moreover, no robot apart from the leader can independently localize itself within the given workspace. To overcome this limitation, we propose a novel distributed control protocol for each robot of the fleet, util

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Duleba, Ignacy, and Wissem Khefifi. "Velocity space approach to motion planning of nonholonomic systems." Robotica 25, no. 3 (2007): 359–66. http://dx.doi.org/10.1017/s0263574706003213.

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SUMMARYIn this paper, a velocity space method of motion planning for nonholonomic systems is presented. This method, based on Lie algebraic principles and locally around consecutive current states, plans a motion towards a goal. It is effective as most of the computations can be carried out analytically. This method is illustrated on the unicycle robot and the inverted pendulum.

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Sheng, Zaiquan, and Kazuo Yamafuji. "Postural Stability and Motion Control of a Unicycle. 2nd Report. Design of Unicycle Robot and Experimental Results." Transactions of the Japan Society of Mechanical Engineers Series C 61, no. 583 (1995): 1042–49. http://dx.doi.org/10.1299/kikaic.61.1042.

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Chantarachit, Surachat. "Design and simulate of LQR-Fuzzy controller for unicycle robot with double flywheels." MATEC Web of Conferences 192 (2018): 02001. http://dx.doi.org/10.1051/matecconf/201819202001.

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This research is focus on design and simulate unicycle robot with double flywheels model with LQR-Fuzzy controller. Roll balancing torque is generated by gyroscopic effect. Pitch balancing torque is applied by inverted pendulum concept. To control the heading of the robot, the angular momentum from both flywheel is applied to control this. The robot model is based on Euler-Lagrange equations. The non-linear model is linearization by Taylor series expansion. The simulation results conducted by MATLAB/Simulink. LQR-Fuzzy is combination algorithm between LQR and Fuzzy controller. The main structu

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Libal, U., and J. Płaskonka. "Noise sensitivity of selected kinematic path following controllers for a unicycle." Bulletin of the Polish Academy of Sciences: Technical Sciences 62, no. 1 (2014): 3–13. http://dx.doi.org/10.2478/bpasts-2014-0001.

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Abstract In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been re

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Benaoumeur, Ibari, Ahmed-Foitih Zoubir, and Haniﬁ Elhachimi Amar Reda. "Remote Control of Mobile Robot using the Virtual Reality." International Journal of Electrical and Computer Engineering (IJECE) 5, no. 5 (2015): 1062. http://dx.doi.org/10.11591/ijece.v5i5.pp1062-1074.

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In this paper we present the simulation and manipulation of teleoperation system for remote control of mobile robot using the Virtual Reality (VR). The objective of this work is to allow the operator to control and supervise a unicycle type mobile robot. In this research we followed three ways: The use of articulated robotic mobile on the Web, the design of remote environment for the experimentation using the network for the mobile robot and the architecture of control is proposed to facilitate the piloting of the robot. This work proposes a hardware and software architecture based on communic

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Jung, Ji-Soo, and Hee Jae Park. "Balancing Control of a Unicycle Robot using Control Moment Gyro." Journal of the Korean Society of Manufacturing Technology Engineers 27, no. 3 (2018): 228–34. http://dx.doi.org/10.7735/ksmte.2018.27.3.228.

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Pappalardo, Carmine, and Domenico Guida. "Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot." Machines 7, no. 1 (2019): 5. http://dx.doi.org/10.3390/machines7010005.

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In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed. The method devised in this paper is based on the combination of the Udwadia-Kalaba Equations with the Underactuation Equivalence Principle. First, an analytical method based on the Udwadia-Kalaba Equations is employed in the paper for handling dynamic and control problems of nonlinear nonholonomic mechanical systems in the same computational framework. Subsequently, the Underactuatio

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Chantarachit, Surachat, and Manukid Parnichkun. "Development and control of a unicycle robot with double flywheels." Mechatronics 40 (December 2016): 28–40. http://dx.doi.org/10.1016/j.mechatronics.2016.10.011.

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Vallejo-Alarcón, M. A., R. Castro-Linares, and M. Velasco-Villa. "Unicycle-Type Robot & Quadrotor Leader-Follower Formation Backstepping Control." IFAC-PapersOnLine 48, no. 19 (2015): 51–56. http://dx.doi.org/10.1016/j.ifacol.2015.12.009.

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Kasmi, B., and A. Hassam. "Comparative Study between Fuzzy Logic and Interval Type-2 Fuzzy Logic Controllers for the Trajectory Planning of a Mobile Robot." Engineering, Technology & Applied Science Research 11, no. 2 (2021): 7011–17. http://dx.doi.org/10.48084/etasr.4031.

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In this study, Fuzzy Logic (FL) and Interval Type-2 FL (IT-2FL) controllers were applied to a mobile robot in order to determine which method facilitates navigation and enables the robot to overcome real-world uncertainties and track an optimal trajectory in a very short time. The robot under consideration is a non-holonomic unicycle mobile robot, represented by a kinematic model, evolving in two different environments. The first environment is barrier-free, and moving the robot from an initial to a target position requires the introduction of a single action module. Subsequently, the same pro

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