This paper gives a nonlinear least squares a p p r o d for numerically finding a trajectory to transfer a non-holonomic system from one configuration to another while satisfying given point-wise configuration constraints. A car like robot is considered as an example. The car like robot is kinematically constrained and is modelled as a 2 D object translating and rotating in the horizontal plane....

Motion planning is the problem of finding a valid path for a robot from a start to goal configuration. In addition to robotics, it has applications to other fields in computer science such as CAD software, autonomous vehicles, and artificial intelligence. Motion planning in robotics is difficult because of the large number of variables needed to account for a robots shape, size, dynamic environ...

In this paper, we consider the parallel parking problem of car-like mobile robots. First, a kinematic model of the robot suitable for control applications has been derived. The problem of stabilizing the robot is seen as an extension of the tracking problem. Two types of steering controllers for straight-line tracking: bangbang (optimal) control and saturated control have been proposed. Due to ...

This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packag...

Event based controller has been implemented to teleoperate the real mobile robot efficiently. The system consists of master haptic device, slave robot and a communication network. On master side with the help of visual aid and real time force feedback acting on the robot the operator control and navigate the robot and receive sensory feedback. Environmental force which is acting on slave robot ...

The design strategy of an adaptive Proportional-Integral-Derivative (PID)-like fuzzy controller for anti-slip Quarter-Car robotic system is proposed. proposed control constructed by two loops, external one lineal speed and internal loop current control. A motion profile used to follow a trajectory. slip computed, such as the difference between linear velocity given S-curve longitudinal calculat...

This paper implements a Neuro-Fuzzy (FNN) approach to autonomously navigate a car-like robot in an unknown environment. The applied technique allows the robot to avoid obstacles and locally search for a path leading to the goal after learning and adaptation. It is based on two Fuzzy Artmap neural networks, a Reinforcement trial and error neural network and a Mamdani fuzzy logic controller (FLC)...

The problem of localization is well known in mobile robotics. A solution is to use a model-based technique such as a kalman filter with multi sensor data fusion. For a car-like mobile robot, the nonlinear dynamic model is suitable for robot movement representation. This work presents the discrete extended kalman filter including a nonlinear dynamic model for the mobile robot localization. As in...