Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel con...

In this article, the problem of robust tracking control for wheeled mobile robot (WMR) with skidding, slipping, and parameter uncertainties is addressed. Through designing double sliding mode variables, a fixed time disturbance observer developed to estimate multiple disturbances within time, convergence regardless initial estimation error system. Based on fixed-time (FTDOB) novel power reachin...

Mobile robotics science has been influenced by developments in electronics and software sciences it reached significant levels the last 50 years. This study aims to present design of an indoor mobile robot platform (MAVI-BOT). The consists a chassis made aluminum, 2D light detection ranging sensor (LIDAR), inertial measurement unit (IMU), infra-red camera LED projection, industrial PC. platform...

• The use of waste polyethylene as a sustainable additive to asphalt binder was experimentally investigated with the DSR. Plastic-type, source, and experimental condition have limited influence on measured scattered results. Three different rheological behaviors were observed identified by using Black Diagram. Glover-Rowe parameter is sensitive tool discriminate plastic modified binders. Analys...

This paper address a novel method for nonholonomic Wheeled Mobile Robot (NWMR) trajectory tracking using a hybrid controller. In the essential of the proposed scheme, hybrid algorithm includes fuzzy logic based Regulation, Pole-Placement and Tracking (F-RST). The hybrid controller easily track the reference trajectory and linearize the nonlinear behavior of robot under the influence of uncertai...

We propose a new guidance law for the problem of wheeled mobile robot (WMR) navigation towards an unknown target based on Received Signal Strength (RSS) Information. Given a mobile robot moving with a constant linear velocity, we use the miss-distance derivative as a measure for the angle at which the robot approaches the target. Miss-distance derivative is estimated from RSS, using a Robust Ex...

In this work, a Lyapunov-based synthesis and control design to induce periodic motion in a unicycle-type wheeled mobile robot (wmr) is under study. The solution of a second-order dynamical system is used as desired trajectory to achieve orbital stabilization. The selected dynamical reference system exhibits a limit cycle behavior which allows to move from one orbit to another by simply changing...

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...