Advances in Intelligent Vehicles by Yaobin Chen and Lingxi Li (Auth.)

By Yaobin Chen and Lingxi Li (Auth.)

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Pathak, J. K. Agrawal, Velocity and position control of a wheeled inverted pendulum by partial feedback linearization, IEEE Transaction on Robotics 21 (3) (2005) 505e513. [12] M. Karkoub, M. Parent, Modeling and non-linear feedback stabilization of a two-wheel vehicle, Journal of Systems and Control Engineering 218 (8) (2004) 675e686. W. Spong, The swing up control problem for the acrobat, IEEE Control Systems Magazine 15 (5) (1995) 49e55. J. Li, J. Luo, Adaptive robust dynamic valance and motion controls of mobile wheeled inverted pendulums, IEEE Transaction on Control System Technology 17 (1) (2009) 233e241.

The overall module descriptions are as follows. A number of mobile agents can be deployed on the testbed in parallel. Each mobile agent has a unique identification number and a matching unique visual tag. This visual tag can be identified and tracked via a stationary camera system, located above the testbed. The Virtual GPS module, connected to the overhead camera system, uses image-processing techniques to generate the real-time state of the mobile robot, including its position, yaw orientation, and velocity, within the field of view of multiple ceiling-mounted cameras.

A number of mobile agents can be deployed on the testbed in parallel. Each mobile agent has a unique identification number and a matching unique visual tag. This visual tag can be identified and tracked via a stationary camera system, located above the testbed. The Virtual GPS module, connected to the overhead camera system, uses image-processing techniques to generate the real-time state of the mobile robot, including its position, yaw orientation, and velocity, within the field of view of multiple ceiling-mounted cameras.

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