In this paper, we present a new robot ROMAIN. We describe the used mechanical, hardware and software architecture. This open structure is realized with a serial high speed bus : CAN. We develop the contraint and dynamic equations and we explain the state system. To control this robot, we use a variable structure control to track desired trajectories. However, this control method is too constrai...

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...

Abstract: This paper addresses the dynamic stabilization problem of a two-wheeled differentially driven nonholonomic mobile robot. The proposed strategy is based on changing the robot control variables from x, y and θ to s and θ, where s represents the robot linear displacement. Using this model, the nonholonomic constraints disappear and we show how the linear control theory can be used to des...

An experimental study is presented on vision-based feedback control methods for the. nonholononomic wheeled mobile robot SuperMARIO. The robot posture is measured via a cameraf ied o n the ceiling of an indoor environment. To this end, a simple localization algorithm has been developed. Performance on trajectory following and parking tasks i s compared under different controllers and using eith...

This paper addresses modeling and global motion planning issues for an autonomous wheeled mobile robot moving on an uneven three-dimensional (3-D) terrain. We focus particularly on the issue of dealing with dynamic and wheel/ground interaction constraints. A key feature of our approach is that it incorporates appropriate physical models to cope with the task dynamics in the motion planning para...