Original upload date: Fri, 23 Sep 2011 00:00:00 GMT
Archive date: Sat, 04 Dec 2021 20:18:36 GMT
This video demonstrates an integrated motion planning and control approach that ensures graceful navigation for balancing mobile robots like the ballbot. Unlike traditional motion planning that plans
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in position space or path space, the motion planner here plans in control space and provides a sequence of controllers that achieve the overall navigation objective. We demonstrate point-point motions and surveillance motions on the ballbot. The ballbot uses Hokuyo URG-04LX laser range finder and a particle filter based localization algorithm to localize itself on a map of the lab. It also uses the laser for actively detecting obstacles and avoiding them.
