A motion control and the corresponded strategy to realize cyclic ball passing motion in robot soccer games are presented in this paper. By this strategy, multiple mobile robots kick the ball in tum with high speed while they adjust or change their formation. The ball-kick controller is to drive the robot to an adequate position with a prescribed velocity in a fixed finite time. After kicking, t...

In this paper, we develop a generic class of control policies that respect nonholonomic constraints and are provably safe with respect to obstacles for a convex-bodied mobile robot. We instantiate this class of policies over local regions of configuration space, and compose the resulting local policies to address the global navigation and control problem for a wheeled mobile robot navigating am...

Mobile manipulators have been given extensive attention in recent years since they have many applications such as materials transport and service for disabled persons. A mobile modular manipulator is normally composed of an m-wheeled mobile platform and an n-degree-of-freedom (DOF) onboard modular manipulator. This combination extends the workspace of the entire robot dramatically. Building up ...

The dynamic model of redundantly actuated mobile robots with powered caster wheels is derived based on vehicle dynamics. The contact stability problem of wheeled mobile robots is introduced and stable contact condition that characterizes the bounds of contact stability is derived. Sliding mode observer is proposed to estimate the robot velocity using wheel angular velocity and joint torque info...

This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain. To overcome slip, variable length axle (VLA) has been proposed in literature. In this paper, we model the wheels as a torus a...

Abstract – This paper presents sensor-based intelligent mobile robot navigation in unknown environments. The paper deals with fuzzy control of autonomous mobile robot motion in an unknown environment with obstacles and gives a wireless sensor-based remote control of mobile robots motion in an unknown environment with obstacles using the Sun SPOT technology. Simulation results show the effective...

This paper discusses a control algorithm for the interception of a mobile target. The application domain is robot soccer in which the target is a ball while the interceptor is a wheeled robot. A case study of a wheeled robot approaching a target in a given direction is presented in detail. A shoot function has been developed, using the proposed algorithm, which calculates the robot wheel veloci...

Abstract This paper considers the global trajectory tracking control problem of wheeled mobile robot. A novel controller for kinematic model robot is presented based on cascaded approach theory. Meanwhile, by using Lyapunov stability theory, proved. Finally, proposed scheme implemented The simulation results show effectiveness controller.

This paper presents an energetic model that analyzes energy utilization in mobile robot traverse and estimates maximum range achievable by wheeled mobile robots operating on a single battery discharge. After taking into account different energy utilizations, such as propulsion and steering, the model indicates that the most energy-consuming part of mobile robot is robotics functions, such as co...

This paper deals with the structure of the kinematic models of wheeled mobile robots (WMR). A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels. In this paper it is shown that, for a large class of possible configurations of wheels, five types of configurations can be done namely i) fixed standard wheels, ii) steerable standard wheels, iii) ...