Abstract Omnidirectional mobile robots have gained a lot of attention in recent years due to their maneuverability capabilities. However, ensuring accurate trajectory tracking with this class is still challenging control system designers. In work, novel intelligent controller introduced for omnidirectional subject unstructured uncertainties. An adaptive neural network adopted within Lyapunov-ba...

The first Urban Search and Rescue operation which involved documented use of robots was at the September 2001 collapse of three towers at the World Trade Center. As researchers rarely have the opportunity to do research in real disaster environments, several standardised simulation methods of USAR situations have been devloped. In this thesis I will discuss USARSim, a 3D simulation environment ...

In this paper, the simulation of an omnidirectional mobile robot is implemented. This paper will start with an explanation of the concept and advantages of omnidirectional mobility. Then, a brief introduction to the omnidirectional mobile robot will be given. Thereafter, the robot kinematic is analyzed and a motion simulation design is developed in C. Finally, experiments will be performed and ...

© 2014 Yun-Won Choi et al. 913 http://dx.doi.org/10.4218/etrij.14.0114.0584 This paper proposes a global mapping algorithm for multiple robots from an omnidirectional-vision simultaneous localization and mapping (SLAM) approach based on an object extraction method using Lucas– Kanade optical flow motion detection and images obtained through fisheye lenses mounted on robots. The multi-robot mapp...

Non-systematic errors in wheeled mobile robots are significantly influenced by irregularities on the surface. The presence of non-smoothness on a surface causes the robot to deviate from its desired trajectory, and move towards an undesirable destination. This paper uses a technique, previously proposed by the first author, to alleviate the positional error originating from non-systematic resou...

This paper presents a new moving obstacle detection method using an optical flow in mobile robot with an omnidirectional camera. Because an omnidirectional camera consists of a nonlinear mirror and CCD camera, the optical flow pattern in omnidirectional image is different from the pattern in perspective camera. The geometry characteristic of an omnidirectional camera has influence on the optica...

Mobile robotics is a growing trend in recent years as mobile robots are being used in service as well as industrial sectors. This paper introduces a novel design of a mobile robot platform for use in constrained workplaces. The constrained environments are nothing but congested places, for example hospitals, ware houses, offices, shop floors where various equipments and machineries are to be ar...

In this paper, a computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bézier curves, which meets obstacle avoidance. Then the algorithm solves the problem of motion planning for the robot to track the path in short travel time while satisfying dynamic constraint. Accelerations of the robot are compu...

To make a robot team perform a soccer game, various technologies must be developed. To date, we constructed a multi-sensor based mobile robot for robotic soccer research. Based on this platform, we have implemented some behaviors for playing soccer and the vision system with on-line visual learning function. This year, we refine behaviors for playing soccer since we improve a motor control syst...