trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

iv List of Tables xiii List of Figures xiv Chapter 1. Contact Sensing and Mobility in Rough and Cluttered Environments 1 1.1 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 Omni-directional Holonomic Mobile Robot Suited for Contact 6 1.3 Control Approach . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3.1 Constrained Dynamics . . . . . . . . . . . . . . . . . . . ...

This paper presents the research and construction of a motion tracing control system for omnidirectional mobile robots based on reinforcement learning techniques in automatic control. The process controlling robot flat environment with definite unknown obstacles, taking into account nonlinear factor interference. Research application programming tools are operating systems (Robot Operating Syst...

In recent years, aging problem has been arising to be among the most serious social issues world wide, especially in some European and Asian countries, involving Japan. It is reported in Japan that the population of over 65 years old would reach 30,000,000 in 2012 and grow over 30% of total population in 2025[1]. Electric wheelchairs, personal mobiles, scooters are currently commercially availa...

In this paper, we propose a method for 3-D environment model construction based on structure from motion by using an omnidirectional camera. Map information is important for path planning and self-localization when mobile robots execute autonomous tasks. In an unknown environment, mobile robots should measure the environment and construct its map by themselves. Our proposed method uses point an...

A high degree of mobility and flexibility will be a prerequisite for the successful deployment of future service robots. Currently, pseudo-omnidirectional, wheeled mobile robots with independently steered and driven wheels seem to provide a solid compromise between complexity, flexibility and robustness. Yet, such undercarriages are imposed to the risk of actuator fighting and suffer from singu...

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 motion planning and control problem is a well-known problem in the field of robotics. The objective is to find collision-free trajectories for a robot, in static or dynamic environments containing some obstacles, between a start and a goal configuration. It has attracted much research in recent years. In this context the term control has a broad meaning that includes many different controls...