This paper introduces error eliminating rapid ultrasonic$nng(EERUF), a new method for firing multiple ultrasonic sensors in mobilerobot applications. EERUF allows ultrasonic sensors to fire at ratesthat are five to ten times faster than those customary in conventionalapplications. This is possible because EERUF reduces the number oferroneous readings due to ultrasonic noise ...

The innovation of two-wheeled balancing robots affects human life in different ways. Immense research continues to be undertaken make such cheap, efficient, and reliable. Essentially, autonomous mobile are two-wheeled, vertical, self-balancing. robot's control system automation application intergraded with daily life. Autonomy is applied vehicles as robots, referred a vehicle capable independen...

This chapter is devoted to the design of robots, with a focus on serial architectures. In this regard, we start by proposing a stepwise design procedure; then, we recall the main issues in robot design. These issues pertain to workspace geometry, the kinetostatic, the dynamic, the elastostatic, and elastodynamic performance. In doing this, the mathematics behind the concepts addressed is briefl...

This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in...

The usage of wheeled robots in service such as planetary exploration robots, pick-and-place cleaning surveillance etc., is continuously increasing day by day. primary purpose these to reduce human resources and minimize life risk a hazardous environment. Therefore, this article, the authors design all-terrain differential-driven caterpillar-wheeled based unmanned Fire Extinguisher Robot (FER), ...

Mobile and/or autonomous robots represent a widely approached research subject. The most common problems associated to all the types of mobile robots refers to the spatial orientation system and to the mathematical models. Additionally, many difficulties are generated taking into consideration practical aspects of implementation, but the technology evolution made possible to develop smaller siz...

Among control problems for mobile robots, point-to-point stabilization is the most challenging since it does not admit designs with smooth static state feedback laws. Stabilization strategies for mobile robots, and nonholonomic systems generally, are smooth, time-varying or nonsmooth, time-invariant. Time-varying control strategies are designed with umdamped linear oscillators but their fixed s...