A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DUCK WALKING (GYROSCOPIC NAVIGATION)

This paper deals with the design and the implementation of a novel navigation strategy for an unicycle mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop. Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name "gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different components are given. An experimental identification for the useful parameters are then exhibited. Moreover, the controller design strategy and the simulation results are given. Finally, real time experiments are accomplished to valid the simulation results.