Research Output
Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot
  A miniature capsule robot (capsubot) – which has no external moving parts whereas a conventional robot has legs and/or wheels – is suitable for in-vivo applications, engineering diagnosis and pipe inspection. This study addresses the trajectory-tracking problem of an underactuated planar capsubot. A combining piecewise and behaviour-based control algorithm is proposed for trajectory tracking. This study also proposes four motion behaviours, four switching behaviours and one stationary behaviour. A selection algorithm for behaviour-based control and rules for inner mass (IM) motion control in all the behaviours are developed. The partial feedback linearisation control is used for low-level IM motion control while the piecewise and behaviour-based control is used for the capsubot trajectory tracking control.

  • Type:

    Article

  • Date:

    19 January 2015

  • Publication Status:

    Published

  • Publisher

    Institution of Engineering and Technology (IET)

  • DOI:

    10.1049/iet-cta.2013.1100

  • ISSN:

    1751-8644

  • Funders:

    Historic Funder (pre-Worktribe)

Citation

Huda, M. N., Yu, H., & Cang, S. (2015). Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot. IET Control Theory and Applications, 9(2), 163-175. https://doi.org/10.1049/iet-cta.2013.1100

Authors

Keywords

microrobots, trajectory control, mobile robots, motion control, feedback

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