It is shown how a holonomic and omni‐directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.

Tracking moving obstacles from a moving platform is a useful skill for the coming generation of mobile robot. The methods used in existing moving objects tracking that operated from fixed platform and fixed background, are not applicable. Instead, we propose a system that detects unexpected moving obstacles that appear in the path of mobile robot. The system is designed to track and determine t...

Throughout a lifetime of operation, a mobile service robot needs to acquire, store and update its knowledge of a working environment. This includes the ability to identify and track objects in different places, as well as using this information for interaction with humans. This paper introduces a long-term updating mechanism, inspired by the modal model of human memory, to enable a mobile robot...

The study of human-robot interaction (HRI) has received increasing research attention for robot navigation in pedestrian crowds. In this paper, we present empirical study of pedestrian-robot interaction in an uni-directional exit corridor. We deploy a mobile robot moving in a direction perpendicular to that of the pedestrian flow, and install a pedestrian motion tracking system to record the co...

Map information is important for self localization and path planning when mobile robots accomplish autonomous tasks. We use 3D environment model containing color data and structure data of the environment. We propose a method for image memory based navigation of a mobile robot with 3D-2D edge matching by using a 3D environment model. Our proposed self localization method is composed of two phas...

The evolutionary learning algorithm called particle swarm optimization (PSO) is developed in this paper. The image model of the embedded mobile robot is automatically generated with the omni-directional image concept to approach toward the behavior of the embedded mobile robot. The circumvolutory environment is dynamically captured from the head of the mobile robot, which will directly be trans...

In this paper, we propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it has a wheel with a free rotational joint and moves along the path based on the intentional force applied by a human. The proposed decentralized control algorit...

Recent image-based robotic systems use predicted future state images to control robots. Therefore, the prediction accuracy of image affects performance robot. To predict images, most previous studies assume that camera captures entire scene and environment is static. However, in real robot applications, these assumptions do not always hold. For example, if a attached mobile robot, its view chan...

Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel p...