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...

It is often the odometry accumulative error without bound after long-range movement that decreases the precision of global localization for wheeled mobile robots. Therefore, an efficient approach to odometry error modeling is proposed regarding gentle drive type mobile robots. The approximate functional expressions, between process input of odometry and non-systematic error as well as systemati...

This paper presents an energetic model that analyzes energy utilization in mobile robot traverse and estimates maximum range achievable by wheeled mobile robots operating on a single battery discharge. After taking into account different energy utilizations, such as propulsion and steering, the model indicates that the most energy-consuming part of mobile robot is robotics functions, such as co...

Disaster recovery robots must operate in unstructured environments where wheeled or tracked motion may not be feasible or where it may be subject to extreme slip. Many industrial disaster scenarios also preclude reliance on GNSS or other external signals as robots are deployed indoors or underground. Two of the candidates for precise positioning in these scenarios are visual odometry and inerti...

This paper describes a novel procedure based on Core Path Graphs to generate continuously differentiable sub-optimal paths for wheeled mobile robots in the presence of obstacles. The operational scenario is first discretized with a finite dimensional grid of positions-directions pairs. A weighted and oriented graph is then defined whose nodes are the above mentioned grid points, and whose arcs ...

Robotics is a scientific discipline which needs a high level knowledge in the fields of computer science, as well as electrical and mechanical engineering and high-performance modular control systems. This paper reports the first results of a project that uses a previously developed very small Electronic Platform (Miniboard) for small and simple autonomous mobile robots. This board is used in t...

Evaluation of mobile robots is a multidimensional problem. There are many performance indices that can be used to compare and evaluate mobile robots. Examples are speed, stability etc. A natural framework for the evaluation of mobile robots is multicriteria evaluation the science of evaluation functions whose output is nonscalar. In this paper we present a methodology for mission oriented mobil...

In this paper, different techniques/methodologies/strategies that are used in the field of mobile robot navigation have been reviewed forunknown environment is an important task for the new generation of several mobile robots. We consider the wheeled mobile robotsfor Path Planning, an autonomous robot and an obstacle and collision avoidance to be used in sensor based robots. We propose that dri...

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their ar...

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...