Driving and Turning Control of a Single-Wheel Mobile Robot

This paper presents driving and balancing control of a single-wheel mobile robot system called the name of GYROBO. GYROBO utilizes a gyro effect to stabilize itself. Three actuators are used to perform driving and balancing tasks. After modification of hardware and relocation of materials inside the wheel housing of the previous GYROBO model, performances of trajectory following control as well as balancing control are improved. Linear controllers are used for both roll, pitch and yaw angle control. GYROBO is required to follow the specified trajectories commanded by a remote operator. Trajectories include a straight line and curved trajectories. Experimental studies of driving and turning control are conducted and its performances are demonstrated.