Wheeled mobile robots are increasingly present in industrial and service robotics, requiring adequate solutions for the motion control problem. With reference to the unicycle kinematics, several control strategies for trajectory tracking and posture stabilization are reviewed and compared on simulation and experimental level. Experiments are reported for BellyBot, a two-wheel differentially-dri...

The dynamic model of redundantly actuated mobile robots with powered caster wheels is derived based on vehicle dynamics. The contact stability problem of wheeled mobile robots is introduced and stable contact condition that characterizes the bounds of contact stability is derived. Sliding mode observer is proposed to estimate the robot velocity using wheel angular velocity and joint torque info...

This article presents a Java based 3D simulator for mobile robots called MoRoS3D. This application is able to simulate realistic motion of different wheeled mobile robots including dynamic behavior and collision detection. Typical sensors are also available in order to develop intelligent navigation applications. As this simulator provides CORBA interfaces for every active objects, applications...

The subject of this chapter is the motion control problem of wheeled mobile robots (WMRs). With reference to the unicycle kinematics, we review and compare several control strategies for trajectory tracking and posture stabilization in an environment free of obstacles. Experiments are reported for SuperMARIO, a two-wheel differentially-driven mobile robot. From the comparison of the obtained re...

Wheeled Mobile Robots (WMRs) are built with their Wheels’ drive machine, Motors. Depend on their desire design of WMR, Technicians made used of DC Motors for motion control. In this paper, the author would like to analyze how to choose DC motor to be balance with their applications of especially for WMR. Specification of DC Motor that can be used with desire WMR is to be determined by using MAT...

This paper presents a study of energy efficiency and kinematic-based optimal design locomotion pneumatic artificial muscle (PAM)-driven snake-like robot. Although robots have several advantages over wheeled track-wheeled mobile robots, their low energy-locomotion has limited applications in long-range outdoor fields. work continues our previous efforts designing prototyping muscle-driven robot ...