Abstract

ROMERO, Álvaro; MARIN, Alejandro  and  JIMENEZ, Jovani A.. MONITORING AND CONTROL SYSTEM FOR A TWOWHEELED SELF-BALANCING ROBOT MODELED IN 3D. rev.udcaactual.divulg.cient. [online]. 2014, vol.17, n.2, pp.541-551. ISSN 0123-4226.

The design and control of a two-wheeled self-balancing robot, is constituted as an important technological breakthrough for urban transportation and mobility in the future, therefore it is a viable alternative solution to the intelligent transportation system (ITS). This particular robot is considered as an excellent benchmark problem for control studies, because of the complex task of balancing its structure, hence it is developed a feedback system to monitor and control in real time, based on a wireless network to tune a balancing point and verify the operation of the system, through the integration of the ZigBee protocol (IEEE 802.15.4) with the LabVIEW graphical programming environment, furthermore it has a 3D modeling to visualize the dynamics of the robot movement, thus provides a self-balancing robot prototype, with the characteristics of a remote vehicle for mobility management in limited space.

Keywords : Remote Vehicles; mobile robot; control design; wireless sensor networks; mathematical modeling.

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