Motion Control of Wheeled Mobile Robots

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Motion Control of Wheeled Mobile Robots

The paper deals with the modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. First, the vehicle kinematics model and the control strategies using a feedforward compensator are analyzed. Second, fuzzy reactive control of a mobile robot motion in an unknow...

Measuring Motion Expressiveness in Wheeled Mobile Robots

This paper addresses the measurement of motion expressiveness in wheeled mobile robots. A neural network based supervised learning strategy is proposed as a method to fuse information obtained from the measurement of selected features. The choice of these features is made to reflect the visual quality of the trajectory and hence carries semantic ambiguities that are filtered out through the abi...

Stable Switching Control of Wheeled Mobile Robots

Kinematic Control of Wheeled Mobile Robots

−− 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...