Chand, Ronal P. and Narayan, Shailendra V. and Naicker, Parmesh R. and Kapadia, Vimi and Chand, Ravinesh and Assaf, Mansour (2022) Acceleration Feedback Controller Processor Design of a Segway. [Conference Proceedings]
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Abstract
—Traffic congestions and carbon emissions are a few
contributing factors to various problems in large cities across
the globe. This paper provides the Single Purpose Processor
(SPP) design for a nonholonomic segway robot’s acceleration
feedback control laws. The acceleration control rules are derived from the total potentials generated by the Lyapunovbased Control Scheme (LbCS), which were validated using
Wolfram Mathematica simulation software. Due to the robot
autonomously, the riders can have a safe ride while reaching
their destination. Furthermore, the design could be implemented
for rapid prototyping in hardware such as a VLSI chip, an ASIC
chip, or an FPGA board. Hence, the segway robot could be used
as a personal transport that could be ridden on narrow paths
such as pavements while consuming less energy when compared
to larger vehicles and help reduce carbon emissions; thus, the
segway robot could be seen as an essential personal transport to
contribute towards smart city goals.
| Item Type: | Conference Proceedings |
|---|---|
| Uncontrolled Keywords: | Segway, Artificial potential fields, Obstacle avoidance, Acceleration feedback controller , Processor design |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Divisions: | School of Information Technology, Engineering, Mathematics and Physics (STEMP) |
| Depositing User: | Nirma Narayan |
| Date Deposited: | 03 Jan 2024 03:39 |
| Last Modified: | 03 Jan 2024 03:39 |
| URI: | https://repository.usp.ac.fj/id/eprint/14369 |
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