Application of intelligent Wheeled Mobile Robots (WMR) for material handling in the manufacturing environment has been the topic of research in the past decade. Even though researchers have succeeded in applying mobile robots for material handling purpose in the shop floor environment, transporting heavy objects in the assembly line is still a challenge. The dynamical characteristics of a manuf...

Robots have been used in manufacturing and service industries to improve productivity, quality, and flexibility. Robots are usually mounted on a fixed plate, or on rails, and can move in a limited manner. The success of robots in these environments encourages the use of mobile robots in other applications where the environments are not structured, such as in outdoor environments. This dissertat...

This paper presents a development of novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobile robot problem in two-dimensional map with presence constraints. approach gives possibility to find wheel considering some constraints during movement both known and unknown environments. The feasible is determined between start goal positions by generating wave po...

We present two “fast” approaches to the NP-hard problem of computing a maximally sparse approximate solution to linear inverse problems, also known as best subset selection. The first approach, a heuristic, is an iterative algorithm globally convergent to sparse elements of any given convex, compact S C Wmr. We demonstrate its effectiveness in bandlimited extrapolation and in sparse filter desi...

This paper presents a new di!erentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In o...

Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR) are presented in this paper. The dynamical model for mobile robot with one pair of active wheels, time–varying mass and moment of inertia have been used in slidingmode control. Two sliding-mode controllers corresponding to angular and position motion have been de...

The movement of a wheeled mobile robot (WMR) is provided by motors, however, it is hard to control and predict the motors speed. A cascade Proportional, Integration, and Derivation (PID) controller is presented in this study to achieve the purpose of motors speed controlling. In order to test the controller, a differential drive wheeled mobile robot (DWMR) platform is used. The platform is inte...

In this paper OmniKity-III (OK-III), a novel wheeled omni-directional mobile robot is developed and its kinematic model and control laws are derived. A special gear train was developed to have omnidirectional mechanism using conventional tire wheels. Several control laws are provided by considering the robot as a redundantly actuated wheeled mobile robot (WMR) on the plane. Since the robot has ...

This paper tackles the regulation problem of wheeled mobile robot (WMR) by using the nonlinear model predictive control (NMPC) in polar coordination framework. The terminal state penalty, terminal state constraints, and the input saturation constraints are taken into consideration in this optimization problem to guarantee the closed-loop regulation performance and stability. Furthermore, we imp...