Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot

Huda, M. Nazmul; Yu, Hongnian; Cang, Shuang

Abstract

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.

• Journal Article Type: Article
• Online Publication Date: Mar 26, 2015
• Publication Date: Jan 19, 2015
• Deposit Date: Jan 8, 2020
• Publicly Available Date: Jan 8, 2020
• Journal: IET Control Theory & Applications
• Print ISSN: 1751-8644
• Electronic ISSN: 1751-8652
• Publisher: Institution of Engineering and Technology (IET)
• Peer Reviewed: Peer Reviewed
• Volume: 9
• Issue: 2
• Pages: 163-175
• DOI: https://doi.org/10.1049/iet-cta.2013.1100
• Keywords: microrobots, trajectory control, mobile robots, motion control, feedback
• Public URL: http://researchrepository.napier.ac.uk/Output/2354941