The task of controlling a wheeled mobile robot is an important element navigation algorithms. control algorithm manages the robot’s movement in accordance with path determined by planner module, where accuracy mapping given route very important. Most often, robots are battery-powered, which makes minimizing energy consumption and shortening travel time issue. For this reason, work, was tested t...

In this paper, wheeled mobile robots towing trailers are used as examples of systems which can be converted into extended Goursat normal form. For some con gurations of this class of systems, a prolongation of the Pfa an system is necessary before the Goursat form can be achieved. The advantage of the Goursat form is that once the kinematic constraints are in this normal form, the point-to-poin...

The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of ...

Wheeled Mobile Robots (WMRs) are built with their Wheels’ drive machine, Motors. Depend on their desire design of WMR, Technicians made used of DC Motors for motion control. In this paper, the author would like to analyze how to choose DC motor to be balance with their applications of especially for WMR. Specification of DC Motor that can be used with desire WMR is to be determined by using MAT...

In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a s...

This paper presents a path planning method considering physical limits for two-wheeled mobile robots (TMRs). A convolution operator is used to generate the center velocity trajectory to travel the distance along predefined Bezier curve while considering the physical limits. The trajectory gained through convolution does not consider the rotating angle of TMR, so we present a transformational me...

Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon’s ability to directly view and touch the surgical environment. These limitations generally restrict the application of laparoscopy to less complex procedures. Large robots external to the patient have been used to aid in ...

Performing autonomous navigation in cluttered and unstructured terrains still remains a challenging task for legged wheeled mobile robots. To accomplish such task, online planners shall incorporate new terrain information perceived while the robot is moving within its environment. While hybrid mobility robots offer high flexibility traversing by leveraging advantages of both locomotion, effecti...

Vision and sensor systems and an efficient motion system are fundamental components in the process of designing and building autonomous robots. This paper describes the technologies behind a “chess robot”, built to collect pawns, queens and kings and to separate them into on specified squares. The robot, designed to participate to the International competition of robotics “Eurobot 2011”, is abl...

This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking. S...