Mobile robot navigation has remained an open problem over the last two decades. Mobile robots are required to navigate in unknown and dynamic environments, and in recent years the use of mobile robots in material handling has considerably increased. Usually workers push carts around warehouses and manually handle orders which is not very cost‐effective. To this e...

In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in ord...

We address the potential for continuous “continuum” robot elements to transform the nature of robotic traversal of uneven terrain. Continuum robots are “dual” to traditional robot structures, with their inherent capabilities featuring strengths in areas that are key weaknesses for conventional robots. These capabilities match well to current challenges in robot mobility, particularly in unstruc...

Robots are indispensable today to improve process efficiencies and labor savings in the industry and service sector. The importance of robots has also been recognized for work in critical environment, such as, space, ocean bottom, power plants, as well as, in the fields of clinical medicine, hazard prevention, etc. For this, a large number of robots have been developed, and researchers continue...

This paper presents a path planning method considering physical limits for two-wheeled mobile robots (TMRs). A convolution operator is used to generate the center velocity trajectory to travel the distance along predefined Bezier curve while considering the physical limits. The trajectory gained through convolution does not consider the rotating angle of TMR, so we present a transformational me...

This paper proposes a Deterministic Kinodynamic Planning approach (DKP for short) offering the degree of generality of randomized techniques for two wheeled robots, such as RRT, but also guarantees on the computation time. This approach combines a global path planner based on an A∗-like algorithm, and a local motion planner based on spline optimization techniques. Implementation details and com...

This paper explores and compares the nature of the non-linear filtering techniques on mobile robot pose estimation. Three non-linear filters are implemented including the extended Kalman filter (EKF), the unscented Kalman filter (UKF) and the particle filter (PF). The criteria of comparison is the magnitude of the error of pose estimation, the computational time, and the robustness of each filt...

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distanc...

Well designed path planning algorithms are the key factor for moving robots. This paper describes a novel simple approach based on kinematics. The testing bed is a tiny two-wheeled robot. The robot’s movement is specified by its translatoric velocity vR and its angular velocity ωR. The kinematic approach generates piecewise circular arcs based on a number of possible different sets of boundary ...