This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...

this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

This paper proposes a method for the visual-based navigation of a mobile robot in indoor environments, using a single omni-directional (catadioptric) camera. The geometry of the catadioptric sensor and the method used to obtain a bird’s eye (orthographic) view of the ground plane are presented. This representation significantly simplifies the solution to navigation problems, by eliminating any ...

Human Robot Interaction (HRI) is being highlighted since the applications of robots has been extended from industry to a common human environment. The main objective of HRI is delivering an operator’s intention to a robot and the state of the robot to the operator. To deliver human intention to robot, various kinds of methods can be used such as dedicated input devices, gesture, voice, and touc...

Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...

The control of mobile robots is an intense research field, having produced a substantial volume of research literature in the past three decades. Mobile robots present a challenge in both theoretical control design as well as hardware implementation. From a theoretical point of view, mobile robots exert highly non-linear kinematics and dynamics, non-holonomy and complex operational environment....