In presented paper a new approach to a collisionfree trajectory generating for a wheeled mobile robot with Adaptive Critic Designs and Fuzzy Logic algorithm, is proposed. The presented discrete hierarchical control system consists of a trajectory generating algorithm based on a reactive navigation of the wheeled mobile robot in an unknown 2D environment with static obstacles, and a tracking con...

The goal of this research was to develop a fuzzy obstacle avoidance system for an autonomous mobile robot using IR detection sensors. This paper presents implemented control architecture for behavior-based mobile robot. The mobile robot is able to interact with an unknown environment using a reactive strategy determined by sensory information. Current research in robotics aims to build autonomo...

We report here on a new technique to evaluate autonomous mobile robots built for exploring rugged terrain such as is found on planetary surfaces. The dynamics of both wheeled and legged robots interacting with deformable soil (sand) and obstacles are notoriously complex and nonlinear. This paper introduces a novel statistical methodology for the evaluation of such robots. We report on work in p...

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 ...

This paper considers real-time obstacle avoidance control of a two-wheeled nonholonomic mobile robot. In this paper, we propose a discontinuous asymptotic stabilizing state feedback control law for a real-time obstacle avoidance problem via the minimum projection method. The method guarantees asymptotic stability and reduces the computational cost. The effectiveness of the proposed method is co...

This article presents the current trends on wheeled mobile robotics being pursued at ESAII-IRIUPC/CSIC. It includes an overview of recent results produced in our group in a wide range of areas, including robot localization, color invariance, segmentation, tracking, visual servoing, audio processing and object and face recognition.

  Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...

For an autonomous mobile robot, an important task to accomplish while maneuvering in outdoor rugged environments is terrain traversability analyzing. Due to the large variety of terrain, a general representation cannot be obtained a priori. Thus, the ability to determine the traversability based on the vehicle motion information and its environments is necessary, and more likely to enable acces...

This paper details the design and implementation of a wheeled mobile robot, which will be referred to as Mobius (Mobile Vision Autonomous System), for selfsustained indoor operation. Its rugged design enables it to be easily customised with auxiliary equipment providing a wide application base. This is facilitated by an accurately controlled high power drive system, with onboard power and compu...

Considering the noise effect during the navigation of a two wheeled mobile robot, SVM and LS-SVM based control schemes are discussed under the measured information with uncertainty, and in the different environments. The noise effect is defined as uncertainty in the measured data. One of them focuses on using a potential function and constructing a plane surface for avoiding the local minima in...