Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot
- Submitting institution
-
Brunel University London
- Unit of assessment
- 12 - Engineering
- Output identifier
- 355-215448-7003649
- Type
- D - Journal article
- DOI
-
10.1049/iet-cta.2013.1100
- Title of journal
- Iet Control Theory And Applications
- Article number
- -
- First page
- 163
- Volume
- 9
- Issue
- 2
- ISSN
- 1751-8644
- Open access status
- Out of scope for open access requirements
- Month of publication
- October
- Year of publication
- 2014
- URL
-
https://bura.brunel.ac.uk/handle/2438/21037
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
2
- Research group(s)
-
4 - Sensors & Digital Systems
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This paper is one of the outputs of the European Commission sponsored RABOT project (FP7-PEOPLE-2012-IRSES). It details the first trajectory tracking study of a planar capsule robot. A novel combined piece-wise and behaviour-based control algorithm has been developed for the trajectory tracking. It has demonstrated detailed theoretical analysis and performed intensive simulation with parameter uncertainty. This study has proposed nine basis behaviours. Successful implementation of these behaviours enabled the robot to generate motion in two dimensions which was previously impossible for capsubot-type underactuated robots.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -