This paper considers the distributed formation control of multiple nonholonomic wheeled mobile robots with a leader. Distributed tracking control laws are proposed with the aid of results of cascade systems such that the centroid of the states of a group of mobile robot exponentially tracks the leader. Simulation results show the effectiveness of the proposed algorithms.

This work addresses the implementation issue of constrained Model Predictive Control (MPC) for the autonomous trajectory-tracking problem. The chosen process to control is a Wheeled Mobile Robot (WMR) described by a discrete, Multiple Input Multiple Output (MIMO), state-space and linear parameter varying kinematic model. The main motivation of the constrained MPC usage in this case relies on it...

This paper has studied techniques for building system configuration, control architecture and implementation of a vision-based wheeled mobile robot. The completed WMR has been built with the dead-reckoning method so as to determine the vehicle’s velocity and posture by the numerical differentiation/integration over short travelling. The developed PID controllers show good transient performances...

Vision and sensor systems and an efficient motion system are fundamental components in the process of designing and building autonomous robots. This paper describes the technologies behind a “chess robot”, built to collect pawns, queens and kings and to separate them into on specified squares. The robot, designed to participate to the International competition of robotics “Eurobot 2011”, is abl...

Recently, robots have been used in many applications including industry and human ordinary life. Robots can make the human life easier by doing the dangerous works such as working in a toxic environment or by doing the hard works such as carrying heavy objects. In addition, robots can add more precision and repeatability in many tasks such as welding and assembly tasks. Human assistant robot (H...

A design of an optimal backstepping fractional order proportional integral derivative (FOPID) controller for handling the trajectory tracking problem wheeled mobile robots (WMR) is examined in this study. Tuning parameters a challenging task, to overcome issue hybrid meta-heuristic optimization algorithm has been utilized. This evolutionary technique known as whale grey wolf optimizer (HWGO), w...

This article presents a new methodology for measuring amount of errors in wheeled robots. Here a four-wheeled robot is tested and corrected using a new benchmark method that called “YMB mark”. This manner treats the systematic errors during the structural design and based on kinematics equations. Because the effect of design process, type of modeling and robot controller on these errors, first ...