ODIS is an omni-directional mobile robot designed to autonomously or semi-autonomously inspect automobiles in a parking lot. Periodically, its position and orientation references need to be reset. This paper considers visual servoing to parking lot lines as one possible approach. Analysis and simulations demonstrate that a surprisingly simple proportional controller in the image coordinates can...

The dynamics model considering payload eccentricity and friction effects of an omni-directional mobile robot is first derived using Lagrange’s equation. Based on the dynamics model with uncertainty, a stable adaptive fuzzy control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term and a fuzzy fun...

The evolutionary learning algorithm called particle swarm optimization (PSO) is developed in this paper. The image model of the embedded mobile robot is automatically generated with the omni-directional image concept to approach toward the behavior of the embedded mobile robot. The circumvolutory environment is dynamically captured from the head of the mobile robot, which will directly be trans...

Tracking moving obstacles from a moving platform is a useful skill for the coming generation of mobile robot. The methods used in existing moving objects tracking that operated from fixed platform and fixed background, are not applicable. Instead, we propose a system that detects unexpected moving obstacles that appear in the path of mobile robot. The system is designed to track and determine t...

Abstract In response to the demand for automated item handling, this paper proposes an omnidirectional wheeled handling robot. Firstly, determine that its mobile platform is based on design of Mecanum wheel, which can move safely and efficiently. Secondly, according common object shapes, a single-side opening closing insertion rack clamping mechanism proposed. Thirdly, in order meet needs trans...

Purpose – In this paper, two omni-directional mobile vehicles are designed and controlled implementing distributed mechatronics controllers. Omni-directionality is the ability of mobile vehicle to move instantaneously in any direction. It is achieved by implementing Mecanum wheels in one vehicle and conventional wheels in another vehicle. The control requirements for omni-directionality using t...