Recent works on the control of wheeled mobile robots have shifted from the use of the kinematic model to the use of the dynamic model. Since theoretical results typically treat the inputs to the dynamic model as torques, few experimental results have been provided, as torque is typically not the input to most commercially available robots. Few papers have implemented controllers based on the dy...

The most relevant differences existing between wheeled and legged robots, from the point of view of the expected navigation tasks to be performed using each kind of locomotion, are reviewed. We propose a new framework for legged robot navigation that replaces many implicit assumptions usually made for wheeled robots by new ones that are better suited to legged robots. Based on this, specific te...

Transportation of large objects or their manipulation in hazardous environments are tasks where the utilization of groups of mobile robots working in a cooperative fashion can be of great advantage. To execute such tasks, a multirobot formation control framework is necessary in order to coordinate the motions of the robots in the group. In this article, a particular formation control approach c...

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their ar...

this paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. fuzzy logic control (flc) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  on the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

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...

In this paper we propose a methodology for robust plane recovering from monocular images. The method is mainly based on the tracking interest points taken from a mobile robot’s camera. An efficient methodology for interest point detection, tracking and recovering has been implemented. The method proposed works in real time, and it is robust enough to deal with different undesired camera motions...

Non-systematic errors in wheeled mobile robots are significantly influenced by irregularities on the surface. The presence of non-smoothness on a surface causes the robot to deviate from its desired trajectory, and move towards an undesirable destination. This paper uses a technique, previously proposed by the first author, to alleviate the positional error originating from non-systematic resou...

The subject of this paper is the motion control problem of wheeled mobile robots (WMRs) in environments without obstacles. With reference to the popular unicycle kinematics, it is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and setpoint regulation problems. The implementation of this approach on th...