Trajectory Tracking for the Ballbot using Optimal Control

Course Project for 16748: Underactuated Robotics at CMU

Tested using MATLAB R2018a 64-bit

For the planar model which plans in one dimension only, run openloop_trajplan.m in planar folder

For the 3D model which plans trajectory in both X and Y dimensions, run openloop_trajplan3D.m in 3d folder

References

Matt Travers' slides for the course: [link]

Nagarajan, Umashankar, George Kantor, and Ralph L. Hollis. "Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot." Robotics and Automation, 2009. ICRA'09. IEEE International Conference on. IEEE, 2009.