In this paper, the simple geometric kinematics of a three-wheeled holonomic mobile robot is proposed. Wheel architecture is developed for the holonomic mobile platform in order to provide omni-directional motions by three individually driven and steered wheels. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot can be a...

This paper considers a method for the visual-based navigation of a mobile robot in an indoor environment. The sole sensor used is an omni-directional camera. Navigation is achieved by combining appearance based methods and visual servoing. A database of omni-directional images is obtained during a training stage. This database maps the environment in a topological sense. Since the image set is ...

In this paper, we focus on the “Vuton-II”, a new omni-directional vehicle developed as a transport vehicle to operate within factories, hospitals, and warehouses. This vehicle is composed of three or more “Omni-Discs.” The Omni-Disc mechanism ensures that individual wheels of the Omni-Disc assembly are always aligned in the same direction, and can always roll freely. The Vuton-II was based on t...

The evolutionary learning algorithm called particle swarm optimization (PSO) is developed in this paper. The image model of the embedded mobile robot is automatically generated with the omni-directional image concept to approach toward the behavior of the embedded mobile robot. The circumvolutory environment is dynamically captured from the head of the mobile robot, which will directly be trans...

In this paper, we introduce a novel reservationbased multiple access protocol for ad hoc networks using directional antennas. First, we investigate the limitations of the extreme reservation schemes, namely omni-directional and directional reservations. We highlight the trade-off between spatial reuse (favors directional reservation) and control/data packet collisions (favors omni-directional r...

This paper is devoted to design and implement a non-holonomic wheeled mobile robot that possesses dynamic object-tracking capability by using real-time image processing. Two motion control laws are proposed using Lyapunov’s direct method and computed-torque method. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the mobile robot develo...

This paper presents an omni-directional mobile microrobot for micro-assembly in a microfactory. A novel structure is designed for omni-directional movement with three normal wheels. The millimeter-sized microrobot is actuated by four electromagnetic micromotors whose size is 3.1 mm × 3.1 mm × 1.4 mm. Three of the micromotors are for translation and the other one is for steering. The micromotor ...

We describe a method for visual based robot navigation with a single omni-directional (catadioptric) camera. We show how omni-directional images can be used to generate the representations needed for two main navigation modalities: Topological Navigation and Visual Path Following. Topological Navigation relies on the robot’s qualitative global position, estimated from a set of omni-directional ...

In the real military scenarios and particularly using Unmanned Aerial Vehicles (UAVs) that perform aspecific communication task; it is not desirable to have an antenna that covers a wide angle. Omni directional antenna transmits power into all directions and thus it gives transmitter benefits of increasing the probability of being detected by hostile receivers. This paper addresses the problem ...