in this paper, an innovative mobile platform is presented which is equipped by three new wheels. the core of the new idea is to establish a new design of rigid circular structure which can be implemented as a wheel by variable radius. the structure of wheel includes a circular pattern of a simple two-link mechanism assembled to obtain a wheel shape. each wheel has two degrees of freedom. the fi...

We propose an efective facial features detection method for human–robot interaction (HRI) with indoor mobile robot. In case of human-robot interaction at mobile robot, its vision system has to cope with dificult problems such as pose variations, illumination changes, and complex backgrounds, which problems mainly arise from the movement of mobile robot. In this paper, in order to overcome such ...

The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...

In this paper we present a Path-Planning Algorithm for a non-holonomic mobile robot with a generic shape. The robot we considered has to move using smoothed trajectories respecting a minimum steering radius constraint. We have developed an algorithm based on a directional (anisotropic) propagation of attracting potential values on a Multilayered Cellular Automata Model. The algorithm finds all ...

In this paper we propose a non-linear model predictive controller architecture (NMPC) for trajectory tracking of an omni-directional mobile robot. The controller employs a simplified process model to predict the evolution of the state of the robot which allows for real-time minimization of the cost function using gradient descent methods. The cost function is chosen so as to penalize the positi...

In this paper, we propose a method for a mobile robot to avoid obstacles in its environment using an omni-directional camera. The method makes an environment map consisting of 3D edge points obtained from omnidirectional camera images and estimates the locations of planes by analysing these 3D edge points so that the robot can avoid walls as obstacles. The method has the advantage that it can g...

Abstract : This paper presents a omni-directional mobile robot which can run on off-road and run over a obstacle. The robot equipped with crawler-roller running system. The motion analysis is also discussed to realize the autonomic off-road running. In order to automatically control the robot to run in optional direction and an orbit. We have to decide the inputting volts of the motors accordin...

We address the problem of indoor mobile robot navigation by center following without prior environmental information based on visual information provided by a single camera. Recently, the research on the mobile robot of the automatic moving type works actively (DeSouza & Kak, 2002). It is an important problem to acquire moving environment information to move automatically. Various sensors such ...

Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...