Tractor–trailer systems have been widely used to increase load transportation capacity. Control of these systems started from motion aid facilities in human-driven vehicles to fully autonomous mobile robots in recent years. In fact, tractor– trailer wheeled robot has been proposed as a modular robotic system in which an actuated mobile robot tows a passive trailer. This is a highly nonlinear un...

It is often the odometry accumulative error without bound after long-range movement that decreases the precision of global localization for wheeled mobile robots. Therefore, an efficient approach to odometry error modeling is proposed regarding gentle drive type mobile robots. The approximate functional expressions, between process input of odometry and non-systematic error as well as systemati...

This paper presents an energetic model that analyzes energy utilization in mobile robot traverse and estimates maximum range achievable by wheeled mobile robots operating on a single battery discharge. After taking into account different energy utilizations, such as propulsion and steering, the model indicates that the most energy-consuming part of mobile robot is robotics functions, such as co...

In this paper we propose a method that multiple mobile robots use tools to accomplish tasks. To give an actual example, the robots can push and manipulate objects by means of a stick and can pull objects by means of string. We classify tools in view of their characteristic and the robots make use of characteristics of tools to accomplish tasks easily and efficiently. We adopt sticks and strings...

Robotics is a scientific discipline which needs a high level knowledge in the fields of computer science, as well as electrical and mechanical engineering and high-performance modular control systems. This paper reports the first results of a project that uses a previously developed very small Electronic Platform (Miniboard) for small and simple autonomous mobile robots. This board is used in t...

Evaluation of mobile robots is a multidimensional problem. There are many performance indices that can be used to compare and evaluate mobile robots. Examples are speed, stability etc. A natural framework for the evaluation of mobile robots is multicriteria evaluation the science of evaluation functions whose output is nonscalar. In this paper we present a methodology for mission oriented mobil...

In this paper, different techniques/methodologies/strategies that are used in the field of mobile robot navigation have been reviewed forunknown environment is an important task for the new generation of several mobile robots. We consider the wheeled mobile robotsfor Path Planning, an autonomous robot and an obstacle and collision avoidance to be used in sensor based robots. We propose that dri...

In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in ord...

In recent years, a significant development of technologies related to the control and communication mobile robots, including Unmanned Aerial Vehicles, has been noticeable. Developing these requires having necessary hardware software enable prototyping simulation algorithms in laboratory conditions. The article presents Laboratory Intelligent Mobile Robots equipped with latest solutions. equipme...

In this chapter, we present a sensor-based trajectory deformation process for nonholonomic robots. The method is based on infinitesimal perturbations of the input functions of the current trajectory. Input perturbation is computed in such a way that a an objective function decreases and that the trajectory initial and final configurations are kept unchanged. The method is then extended to docki...