We formulate the kinematic equations-of-motion of wheeled mobile robots incorporating conuentionaI, omnidirectional, and ball wheels. While our approach parallels the kinematic modeling of stationary manipulators, we extend the methodology to accommodate such special characteristics of wheeled mobile robots as multiple closed-link chains, higher-pair contact points between a wheel and a surface...

This paper presents, analyzes and compares two different kinematic modeling methods for obtaining the kinematic model of general wheeled mobile robots. The two kinematic modeling methods are based on absolutely different concepts: on the one hand the constraints of each wheel and on the other the well known homogeneous transformation matrix theory. These methods are applied to the most common w...

A GA-based fuzzy controller design method is proposed for a two-wheeled mobile robot to independently control two velocities of its left-wheeled motor and right-wheeled motor so that the controlled robot can move fast and efficiently to the desired position. First, the kinematics model of the considered two-wheeled robot is described and a 4-input-and-2-output motion fuzzy control structure wit...

The stability of the internal dynamics of a wheeled mobile robot is analyzed. It is shown that the wheeled mobile robot exhibits unstable internal dynamics when moving backwards. Most control methods of wheeled mobile robots are designed based on input-output relations. Since the internal dynamics are not represented in input-output relations, stability properties of the internal dynamics are g...

Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of tracking the desired velocity in the least amount of time, for a differential drive nonholonomic wheeled mobile robot. If the desired velocity is a constant...

Tractor–trailer systems have been widely used to increase load transportation capacity. Control of these systems started from motion aid facilities in human-driven vehicles to fully autonomous mobile robots in recent years. In fact, tractor– trailer wheeled robot has been proposed as a modular robotic system in which an actuated mobile robot tows a passive trailer. This is a highly nonlinear un...

In this paper OmniKity-III (OK-III), a novel wheeled omni-directional mobile robot is developed and its kinematic model and control laws are derived. A special gear train was developed to have omnidirectional mechanism using conventional tire wheels. Several control laws are provided by considering the robot as a redundantly actuated wheeled mobile robot (WMR) on the plane. Since the robot has ...

In this paper, path planning of wheeled mobile robots is investigated in presence of environmental obstacles based on potential field method. To do this, nonlinear dynamic equations of the mobile robot are derived with the respect of its nonholonomic constraints. To avoid the obstacles during the robot’s motion, repulsive potential functions are used. By implementation of potential field method...