Abstract: A redundant mobile manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degrees of freedom (DOF) onboard manipulator is investigated in this paper. Redundancy for such a robot is exploited to avoid tipover via online adjusting self-motions. The dynamic model is established and a new tipover criterion is proposed considering inertia, gravity and acceleration. An onl...

We describe in detail a novel kinematic simulation of a three-wheeled mobile robot moving on extremely uneven terrain. The purpose of this simulation is to test a new concept, called Passive Variable Camber (PVC), for reducing undesirable wheel slip. PVC adds an extra degree of freedom at each wheel/platform joint, thereby allowing the wheel to tilt laterally. This extra motion allows the vehic...

Mobile robot navigation has remained an open problem over the last two decades. Mobile robots are required to navigate in unknown and dynamic environments, and in recent years the use of mobile robots in material handling has considerably increased. Usually workers push carts around warehouses and manually handle orders which is not very cost‐effective. To this e...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

This paper proposes a vision-based line following controller for a differential-drive mobile robot. First, a kinematic model of the robot suitable for path following applications is derived. A feedback control, which achieves local asymptotic stability of the nonlinear closed-loop system is designed and analysed. A camera model and the perspective point transformations are given. A line detecti...

Corresponding Author: Azza El-Sayed Bayoumi Ibrahim Department of Computers and Systems, Electronics Research Institute, Giza, Egypt Email: [email protected] Abstract: This paper introduces and discusses a control strategy for nonholonomic wheeled mobile robots. The models of the robots include the kinematic and dynamic equations of motion. Trajectory tracking control problem of parallel wheeled ...

A Posture Control for Two Wheeled Mobile Robots Hyun-Sik Shim and Yoon-Gyeoung Sung Abstract: In this paper, a posture control for nonholonomic mobile robots is proposed with an empirical basis. In order to obtain fast and consecutive motions in realistic applications, the motion requirements of a mobile robot are de ned. Under the assumption of a velocity controller designed with the selection...

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

Obstacle avoidance is an essential function for the navigation of mobile robots. Noise filtering improves the measurement accuracy of senors and plays an important role for obstacle avoidance in the applications of mobile robots. This study evaluates the performance of the extended Kalman filtering (EKF) and Kalman filtering (KF) for obstacle avoidance of a two-wheeled mobile robot. EKF is an a...

This paper explores and compares the nature of the non-linear filtering techniques on mobile robot pose estimation. Three non-linear filters are implemented including the extended Kalman filter (EKF), the unscented Kalman filter (UKF) and the particle filter (PF). The criteria of comparison is the magnitude of the error of pose estimation, the computational time, and the robustness of each filt...