Chand, Ronal P. and Chand, Ravinesh and Naicker, Parmesh R. and Narayan, Shailendra V. (2022) Tomorrow’s Smart City Personal Transporter: An autonomous Hoverboard Robot. [Conference Proceedings]
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Abstract
The growing populations of various major cities
have resulted in traffic congestion, high energy consumption, and increased pollution rates. Automated vehicles connected to the city network for data and decisions can alleviate some of these issues. This paper presents the acceleration-based stabilizing controllers of an autonomous nonholonomic hoverboard robot derived
from the total potential using the Lyapunov-based Control
Scheme (LbCS). The derived controllers enable the hoverboard
robot to navigate autonomously while avoiding static obstacles to reach its target, where it achieves its equilibrium state. The effectiveness of the developed controllers was validated through computer simulations using Wolfram Mathematica software. This theoretical exposition could be used as fundamental work for a real prototype robot that could be used as a personal transport that consumes less energy, has greater reachability, and ensures safety and riders’ comfortability, hence contributing towards
smart city goals.
| Item Type: | Conference Proceedings |
|---|---|
| Uncontrolled Keywords: | Hoverboard, Artificial potential fields, Lyapunov, Acceleration control, Obstacles avoidance |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science Q Science > QA Mathematics > QA76 Computer software |
| Divisions: | School of Information Technology, Engineering, Mathematics and Physics (STEMP) |
| Depositing User: | Nirma Narayan |
| Date Deposited: | 29 Jan 2024 23:47 |
| Last Modified: | 29 Jan 2024 23:47 |
| URI: | https://repository.usp.ac.fj/id/eprint/14404 |
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