in this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. the robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (sns) toward the goal. in the case of no obstacle, sns was a direct path from the robot to goal; however, in the presence of obstacles, sns was a space around the r...

We propose the architecture of a novel robot system merging biological and artificial intelligence based on a neural controller connected to an external agent. We initially built a framework that connected the dissociated neural network to a mobile robot system to implement a realistic vehicle. The mobile robot system characterized by a camera and two-wheeled robot was designed to execute the t...

With the continuous development of the industrialization process, the countries all over the world gradually appeared lack of agricultural labor force and aging phenomenon, which was especially prominent in developed countries. However the agricultural robot with high operating efficiency, high qualities of work will play an increasingly important role in future agricultural production. Robot n...

We are developing an autonomous mobile robotic system to emulate six degree of freedom relative spacecraft motion during proximity operations. A mobile omni-directional base robot provides x, y, and yaw planar motion with moderate accuracy through six independently driven motors. With a six degree of freedom micro-positioning Stewart platform on top of the moving base, six degree of freedom spa...

In this paper, we propose a method for global localization using an omni-directional camera. A robot position and angle are estimated by correlation coefficient between topological node-map images and input images. Near-node has the largest correlation coefficient in topological map images. The calculated correlation coefficient makes the mixtures of Gaussians density map. The highest value of ...

Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper...

Abstract: This paper describes how to control an asymmetric wheeled mobile robot with omnidirectional wheels, considering the sample of a robot with three wheels. When flexible motion capabilities are required this robot must be designed to meet the related requirements, namely fast and agile motions as well as robust navigation. This paper provides an overview for the design of kinematics and ...

iv List of Tables xiii List of Figures xiv Chapter 1. Contact Sensing and Mobility in Rough and Cluttered Environments 1 1.1 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 Omni-directional Holonomic Mobile Robot Suited for Contact 6 1.3 Control Approach . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3.1 Constrained Dynamics . . . . . . . . . . . . . . . . . . . ...

Vision sensors are attractive equipments for an autonomous mobile robot because they are informationrich and rarely have restrictions in range and various applications. However, there exists a difficult problem in using vision sensors to reconstruct geometrical information, which is a correspondence or matching problem. We present a simultaneous localization and map building (SLAM) algorithm fo...