Control of a Planar Ballbot with Obstacle Avoidance
Apr 28, 2023
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1 min read
This project was developed for an Applied Optimal Control course taught by Dr. Christian Hubicki in the Winter 2023 semester. I wrote a controller for a ballbot, which is a small, wheeled robot that balances on top of a basketball. The controller uses trajectory optimization and convex model predictive control (MPC) to navigate the world while staying balanced and avoiding obstacles.
A repo containing more information and the control code is available here.
