A The proposed system developed an omnidirectional algorithm to control autonomous mobile robots with three wheels. implementation consists of Planet DC motors rated power 80 W for wheels, encoders speed feedback, one encoder distance and digital compass sensor angle feedback. main STM32F407 microcontroller is designed directional wheels based the signal received from then controls subsystems a...

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identified wi...

Lizards, such as Mabuya macularia or Gecko gecko, have a relatively simple peripheral auditory system structured as a pressure difference receiver with a strong broadband directional sensitivity. In this paper we take a lumped-parameter model of the lizard auditory system, convert the model into a set of digital filters implemented on a TDT StingRay digital signal processing module carried by a...

Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, mobile robots should generate an environment map by themselves. Then, we propose a method for construction of the 3D environment model by a mobile robot. The method is based on structure from motion. We use a single omni-directional camera to measure the ...

Flying insects sense the speed and direction of the wind to provide directional information used in chemical plume tracking. To model this plume tracking using a mobile robot, an appropriate wind sensor is required. This paper initially describes the design of a wind sensor for this purpose. The sensor utilises three wind speed measurement devices, thermal anemometers, to determine wind speed a...

We propose to use a multi-camera rig for simultaneous localization and mapping (SLAM), providing flexibility in sensor placement on mobile robot platforms while exploiting the stronger localization constraints provided by omni-directional sensors. In this context, we present a novel probabilistic approach to data association, that takes into account that features can also move between cameras u...

This paper presents a motivational system for an autonomous robot which is designed to regulate human-robot interaction. The mode of social interaction is that of a caretaker-infant dyad where a human acts as the caretaker for the robot. An infant’s emotions and drives play a very important role in generating meaningful interactions with the caretaker, and regulating these interactions to maint...

In this paper, we describe a visual servoing system developed as a human-robot interface to drive a mobile robot toward any chosen target. An omni-directional camera is used to get the 360 degree of field of view, and an efficient SSD based tracking technique is developed to track the target. The use of the omnidirectional geometry eliminates many of the problems common in visual tracking and m...