Instantaneous centre of rotation based motion control for omnidirectional mobile robots with sidewards off-centred wheels

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Sensor-based motion control for mobile robots

Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

Applications of wheeled mobile robots have recently extended to service robots for the handicapped or the aged and industrial mobile robots working in various environments. The most popular wheeled mobile robots are equipped with two independent driving wheels. Since these robots possess 2 degrees-of-freedom (DOFs), they can rotate about any point, but cannot perform holonomic motion including ...

Motion Control and Stability Improvement of Autonomous Mobile Robots with Suspended Wheels

Mobile manipulators have been given extensive attention in recent years since they have many applications such as materials transport and service for disabled persons. A mobile modular manipulator is normally composed of an m-wheeled mobile platform and an n-degree-of-freedom (DOF) onboard modular manipulator. This combination extends the workspace of the entire robot dramatically. Building up ...

Omnidirectional sensors for mobile robots

CONTACT Dr.-Ing. Dipl. Inform. Hartmut Surmann Schloss Birlinghoven, 53757 Sankt Augustin, Tel 02241/142518 Fax 02241/144-2518 email: [email protected] REFERENCES [1] Surmann, H.: The VolksBot, http://www.VolksBot.de, Oct. 2008 [2] Murphy, R.: Trial by fire [rescue robots]. Robotics & Automation Magazine, IEEE 11 (3) (Sept. 2004) 50–61 [3] Durrant-Whyte, H., Bailey, T.: Simulta...