Articulated Wheeled Robotic (AWR) locomotion systems consist of chassis connected to a set of wheels through articulated linkages. Such articulated “leg-wheel systems” facilitate reconfigurability that has significant applications in many arenas, but also engender constraints that make the design, analysis and control difficult. We will study this class of systems in the context of design, anal...

This paper presents the intelligent wheeled mobile robot motion control in unstructured environments. The fuzzy control of a wheeled mobile robot motion in unstructured environments with obstacles and slopes is proposed. Outputs of the fuzzy controller are the angular speed difference between the left and right wheels of the mobile robot and the mobile robot velocity. The simulation results sho...

Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

At present, the theory of wheeled robotic systems is being actively developed. In modeling motion robots, one mostly uses classical nonholonomic model, which does not take into account slip deformable wheels. Meanwhile, for robots with wheels, models can be inadequate design and analysis control algorithms. This case statically unstable balancing coaxial similar in such vehicles as Segway. Thus...

In this paper we propose a method that multiple mobile robots use tools to accomplish tasks. To give an actual example, the robots can push and manipulate objects by means of a stick and can pull objects by means of string. We classify tools in view of their characteristic and the robots make use of characteristics of tools to accomplish tasks easily and efficiently. We adopt sticks and strings...

Complex systems and complex missions take years of planning and force launches to become incredibly expensive. The longer the planning and the more expensive the mission, the more catastrophic if it fails. The solution has always been to plan better, add redundancy, test thoroughly and use high quality components. Based on our experience in building ground based mobile robots (legged and wheele...

This paper presents a time invariant kinematic motion controller for wheeled mobile robots. Actuator capability, mechanical design, and traction forces governed by terrain features provide velocity and curvature limitations that are used in the design of the controller. A novel path manifold that considers curvature limitations is introduced to provide a desired path shape and convergence to th...

The accurate model-based servo-control of wheeled mobile robots (WMRs) relies upon the formulation of realistic kinematic and dynamic models. We* identify six special WMR characteristics (closed-chains, hig her-pair joints, unactuated and unsensed joints, friction, and pulse-width modulation) that require methodologies for modeling and control beyond those conventionally applied to stationary m...

This paper introduces error eliminating rapid ultrasonic$nng(EERUF), a new method for firing multiple ultrasonic sensors in mobilerobot applications. EERUF allows ultrasonic sensors to fire at ratesthat are five to ten times faster than those customary in conventionalapplications. This is possible because EERUF reduces the number oferroneous readings due to ultrasonic noise ...