This paper studies distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. We investigate control strategies which use just bearing-only or range-only measurements and do not need inter-robot radio communication to share the measurements. For the bearing-only case, two control laws proposed in our previous stud...

ABSTRACT In this paper, a nonlinear controller is designed for a wheeled mobile robot with three omnidirectional wheels. The omnidirectional wheel has an advantage of universal moving directions on a flat surface without changing its pose. The dynamics of the omnidirectional wheel includes rolling and slipping. Three configurations of mobile robots and an input-additive perturbation are conside...

Obstacle avoidance is an essential function for the navigation of mobile robots. Noise filtering improves the measurement accuracy of senors and plays an important role for obstacle avoidance in the applications of mobile robots. This study evaluates the performance of the extended Kalman filtering (EKF) and Kalman filtering (KF) for obstacle avoidance of a two-wheeled mobile robot. EKF is an a...

This paper presents a study of energy efficiency and kinematic-based optimal design locomotion pneumatic artificial muscle (PAM)-driven snake-like robot. Although robots have several advantages over wheeled track-wheeled mobile robots, their low energy-locomotion has limited applications in long-range outdoor fields. work continues our previous efforts designing prototyping muscle-driven robot ...

The purpose of this chapter is to introduce, analyze, and compare the models of wheeled mobile robots (WMR) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. According to this discussion it is shown tha...

due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. however, omni directional navigation system, omni-vision system and kicking mechanism in such mobile robots have not ever been combined. this situation brings the idea of a robot with no head direction into existence, a comprehensive omni directional mobile robot. such...

  Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...

This paper proposes a novel hybrid formation control technique for a group of differentially driven wheeled mobile robots in the Leader-Follower framework. In the proposed method, the leader robot of the group plans its path of navigation by an artificial potential field and the follower robots plan their path in order to follow the leader robot by maintaining a particular formation employing t...

Among control problems for mobile robots, point-to-point stabilization is the most challenging since it does not admit designs with smooth static state feedback laws. Stabilization strategies for mobile robots, and nonholonomic systems generally, are smooth, time-varying or nonsmooth, time-invariant. Time-varying control strategies are designed with umdamped linear oscillators but their fixed s...

For their inherent stability and simplicity, wheeled robots are very common in robotics applications – but a major drawback of wheeled robots is their inability to navigate over large obstacles or steps without assistance. Active systems that have been designed for use on wheeled robots to lift the robot over a step – such as USU‟s T3 and Virginia Tech‟s IMPASS – are effective, but are limited ...