Most work in evolutionary robotics used a neural net approach for control of a mobile robot. Genetic programming has mostly been used for computer simulations. We wanted to see if genetic programming is capable to evolve a hierarchical control architecture for simple reactive navigation on a large physical mobile robot. First, we evolved hierarchical control algorithms for a mobile robot using ...

This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...

Autonomous navigation of mobile robots in an uncertain and complex environment is a broad and complicated issue due to a variety of obstacles that mobile robots have to detect and represent in their maps to navigate safely. The objective of the navigation-mobile robot is to obtain an optimum path, meaning that the robot should plan a reliable path between the source point and the target point w...

Autonomous wheeled skid-steering mobile robot off-road trajectory tracking is focused on. According to the kinematics and dynamics analysis of the robot, a constraint of the robot motion is put forward. As uncertain disturbance factors exist during the robot off-road running, a novel fuzzy lateral control law is proposed, which makes the robot motion globally asymptotically stable. According to...

Autonomous robots are intelligent machines that are able to perform desired tasks by themselves, without any human intervention. Obstacle avoidance is a primary requirement for any autonomous mobile robot. It prevents the mobile robot from collision. The robot acquires information about its surroundings through camera mounted on the robot. The obstacle detection for the mobile robot is carried ...

Developing techniques for mobile robot navigation constitutes one of the major trends in the current research on mobile robotics. This paper develops a local model network (LMN) for mobile robot navigation. The LMN represents the mobile robot by a set of locally valid submodels that are Multi-Layer Perceptrons (MLPs). Training these submodels employs Back Propagation (BP) algorithm. The paper p...

Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional mobile robot such as Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensi...

Mobile robots have been used widely in large number of intelligent based applications, where a random manoeuvring is an essential part of such systems, [1,2]. In this regards, experience has shown that mobile robots do require advanced parallel intelligent based control mechanisms. In this article, it is shown how a mobile robot can be controlled in movement via some rule based system. In this ...

Manipulators with mobile base are gaining momentum in the industry due to improved workspace and flexible adaptability to changes in the product designs. Although there has been research in this field for a considerable time, many issues are still to be resolved viz. obstacle avoidance, redundancy resolution for singularity avoidance, dynamic analysis of combined manipulator and a mobile robot,...