Planned navigation of a self-balancing autonomous service robot

This paper presents a planned navigation control architecture of a self-balancing two-wheeled platform for autonomous service robots. Based on the linearized mathematical modeling incorporating the frictions between the wheels and the motion surface, a kinematical trajectory tracker and two adaptive controllers are designed to track speed and yaw rate commands. A human-aware trajectory generator is used to provide desired trajectories between humans and the robot. Experimental results indicate that the proposed planned navigation control architecture is capable of providing appropriate control actions to satisfactorily achieve trajectory tracking and obstacle-avoidance.