ABSTRAKRobot roda omni (OMR) merupakan salah satu jenis robot tipe holonomic, yaitu yang dapat bergerak ke segala arah tanpa harus mengubah orientasi dari itu sendiri. Dalam pengembangannya, OMR ditambahkan kemampuan lain seperti menuju titik diinginkan dan menghindari rintangan. Pada makalah ini akan merancang mensimulasikan dengan konfigurasi tiga buah menggunakan metode potential field Peran...

The dynamics model considering payload eccentricity and friction effects of an omni-directional mobile robot is first derived using Lagrange’s equation. Based on the dynamics model with uncertainty, a stable adaptive fuzzy control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term and a fuzzy fun...

A hierarchical robot navigation system has been developed and implemented on a range of real and simulated mobile robots for two independent research applications. One application is a study on emotion-modulated navigation. The other is an investigation of heterogeneous multi-robot navigation. The navigation framework shared by the various implementations is described. A multi-layered architect...

This paper deals with the problem of how to control the movement of a simple robot which has the goal to reach a specified target within finite time and to stay within some pre-defined distance to it. The system's design proposed is as minimal as possible and reflects the basal reflex arc as observed in biological systems. The dynamics is due to a multiplicatively modified random walk. In parti...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...