The autonomous wheeled mobile robots are very interesting subject both in scientific research and practical applications. The article deals with the fuzzy control of autonomous wheeled mobile robotic platform motion in an unstructured environment with obstacles. The simulation results show the effectiveness and the validity of the obstacle avoidance behaviour in unstructured environments and th...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

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...

The subject of this chapter is the control problem for nonholonomic wheeled. Of geometric smoothness is in general noduri alpinism pdf required for nonholonomic robots. Nev.Mobile robots did not wait to know that they were nonholonomic to plan and. Of robot motion planning: as examples, in 1969, the mobile robot Shakey used. From a kinematic point of view, the main characteristic of wheeled rob...

−− A generic kinematic control, which is directly applicable to any type of wheeled mobile robot, is proposed in this work. Firstly, it is presented the kinematic models of the four common types of wheels (fixed, centered orientable, castor and Swedish) a classification of wheeled mobile robots. Afterwards, it is proposed a kinematic control scheme with three nested loops: dynamic, kinematic an...

Applications of wheeled mobile robots have recently extended to service robots for the handicapped or the aged and industrial mobile robots working in various environments. The most popular wheeled mobile robots are equipped with two independent driving wheels. Since these robots possess 2 degrees-of-freedom (DOFs), they can rotate about any point, but cannot perform holonomic motion including ...

One of the most important reasons for the popularity of mobile robots in industrial manufacturing is their capability to move and operate freely. In order for the robots to perform to the expectations in manufacturing, their position and orientation must be determined accurately. In addition, there is a strong tendency to grant more autonomy to robots when they operate in hazardous or unknown e...