As a laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode an...

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stabil...

It is shown how a holonomic and omni‐directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.

This paper presents a method for reliable real-time obstacle avoidance for a tele-autonomous omnidirectional mobile robot, called “OmniMate.” The OmniMate is a large, rectangular-footprint platform with a flat loading deck measuring 184 ×92 cm (72×36”). Implemented with a shared control architecture, the OmniMate can operate in a so-called tele-autonomous mode that allows the operator to prescr...

Recently, various essential technologies of an autonomous mobile robot such as a self localization scheme, an environmental map formation and path planning, learning algorithm and communication are developed in the area of robot. In addition, a variety of service robots which offers service with the actual environment with other moving objects, including people are proposed and developed(B. Gra...

Since there are usually parameter uncertainties and influence of the exogenous disturbances on the dynamic model of a four-wheel omni-directional mobile robot (FOMR), the traditional strategy for motion control has not good performance. A sliding mode control based on an adaptive approach and a filter (AFSMC) is presented in this paper. First, according to identifying the reaching gain by a Rad...

In this paper, we describe a new Telepresence system which enables a user to look around a virtualized real world easily in network environments. The proposed system includes omni-directional video viewers on web browsers and allows the user to look around the omni-directional video contents on the web browsers. The omni-directional video viewer is implemented as an Active-X program so that the...

Wireless Sensor Networks (WSNs) incorporate smart antennas for information propagation to offer connected coverage with reduced interference. This paper presents an omni directional antenna assisted scheme for WSNs to reduce network redundancy besides offering connected coverage. The directivity of an omni directional antenna outfitted on a sink node is exploited to reduce network redundancy an...

The problem of e ciently moving a pair of omni directional robots carrying a ladder using distributed control is discussed We rst consider the case in which two robots that may di er only in their maximum speeds are situated in an obstacle free workspace and present two distributed algorithms Next a distributed algorithm is presented for the case in which the workspace is a narrow corridor with...