| This paper is concerned with the problem of controlling the motion of a mobile robot moving in a time-varying environment. The study considers a car-like vehicle moving in a roadway-like environment. We present two approaches which enable the vehicle to execute a given nominal motion plan and to adjust it in order to avoid static and dynamic obstacles. The rst approach is based on classical p...

The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing manoeuvrability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and safely a set of abilities: simultaneous ...

This paper presents an adaptive fuzzy sliding-mode dynamic controller (AFSMDC) of the car-like mobile robot (CLMR) for the trajectory tracking issue. First, a kinematics model of the nonholonomic CLMR is introduced. Then, according to the Lagrange formula, a dynamic model of the CLMR is created. For a real time trajectory tracking problem, an optimal controller capable of effectively driving th...

Neuro-fuzzy approaches are developed, in the present work, to determine time-optimal, collision-free path of a car-like mobile robot navigating in a dynamic environment. A fuzzy logic controller (FLC) is used to control the robot and the performance of the FLC is improved by using three different neuro-fuzzy (NN-FLC) approaches. The performances of these neuro-fuzzy approaches are compared amon...

The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing maneuverability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and safely a set of abilities: simultaneous ...

This paper aims to investigate a new and intricate behavior of immediate follower during the lane change of leader vehicle. Accordingly, the mentioned situation is a transient state in car following behavior during which the follower vehicle considerably deviates from conventional car following models for a limited time, which is a complex state including lateral and longitudinal movement simul...

Accurate simulation provides a significant means for cost reduction during planning and operation of manufacturing installations. Within the projects Realistic Robot Simulation the standards Robot Controller Simulation (RCS) Interface and Virtual Robot Controller (VRC) Interface were defined by international consortia of leading car makers, robot and simulator manufacturers and line builders, w...

Studies on harvesting robots with manipulator were started with the tomato fruit harvesting robot since 30 years ago by Prof. Kawamura, Kyoto University [1]. The robot consisted of a 5 DOF manipulator, a harvesting end-effector, a color TV camera which was used for stereo vision, and a battery car for traveling in the ridges as shown in Figure 1. Following the harvesting robot, the robotic tech...

This Paper addresses the problem of nonholonomic motion planning for a bi-steerable car. The kinematic speci city of this system is the turning of its rear wheels as a function of the steering angle of the front wheels. The bi-steerable car was shown to be at. The aim of this work is to present its linearizing outputs. The computation of these outputs is the major step that allows us to propose...

In this paper, we investigate basic issues of motion planning for a class of dynamic mobile robots, focusing on eel-like swimming robots. A primary characteristic of this class of robots is that drift plays a signiicant role in the generation of motion. In this paper, we build on previous work in which we explored generic gait patterns that could be used to drive an eel-like robot. We make an a...