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

作者：Huda M Nazmul^*; Yu Hongnian; Cang Shuang

来源：IET Control Theory and Applications, 2015, 9(2): 163-175.

DOI：10.1049/iet-cta.2013.1100

• microrobots
• trajectory control
• mobile robots
• motion control
• feedback
• behaviour-based control approach
• underactuated planar capsule robot
• miniature capsule robot
• in-vivo applications
• engineering diagnosis
• pipe inspection
• trajectory-tracking problem
• behaviour-based control algorithm
• motion behaviours
• switching behaviours
• stationary behaviour
• selection algorithm
• inner mass motion control
• IM motion control
• partial feedback linearisation control
• piecewise-based control

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.

• 出版日期2015-1-19