Balancing and Driving Control of a Combined System of a Two-Wheeled Mobile Robot and a Drone by Connector Design
Hyun Woo Kim, Seul Jung · Journal of Institute of Control Robotics and Systems · 2018
This paper presents the feasibility of the cooperative control between a two-wheeled mobile robot (TWMR) and a drone. The connectors have been designed to combine two systems into one and to decouple the combined system into two systems. The drone lands on the top of the TWMR to become a combined system while the TWMR maintains balancing. The drone can also be separated from the TWMR by the decoupling structure. When combined, a drone can drive the balancing TWMR forward and backward. Experimental results of the balancing control and driving control of a combined system are performed to confirm the feasibility.