This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position...

In this paper, the problem of the kinematics and dynamics of two constructional conceptions of a twowheeled mobile robot is considered. The wheeled mobile robot subjected to nonholonomic constraints moves over the inclined plane. Its trajectory consisting of the straight line and the curvilinear path described by the sinusoidal function is analyzed. The kinematic equations for arbitrarily chose...

World modelling for mobile autonomous robot is usually a process that uses sensor data as input and provides a model of the robot’s environment as output. In this paper we investigate on sensor fusion methods for robustness and fault tolerance. We evaluate three methods according to their performance, memory consumption, and required sensor configurations. The algorithms have been implemented i...

Path planning evaluates and identifies an obstacle free path for a wheeled mobile robot (WMR) to traverse within its workspace. It emphasizes metric like, start goal coordinate, static or dynamic workspace, obstacles, computational time local minimum problem. play significant role toward WMR effective it workspace like industrial, military, hospital, school office. In this is optimal method inc...

This paper proposes a new effective behaviour-based reactive navigation methodology for autonomous mobile robot. Its main contribution is based on newly proposed egocentric 'homeostatic ' approach by which behaviours are coordinated while taking advantages of both competitive and cooperative method. In order to accomplish autonomous navigation, direction and velocity are modulated automatically...

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...

Wheeled mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. High performance path-tracking is very important for the mobile robot to precisely follow the designed cargo-carrying path. However, the mobile robot sometimes strays from the predefined path because of center-ofgravity (COG) shifts, load changes caused by loads, and non...

Wheeled Mobile Robots are considered as the most widely used class of Mobile Robots. This is due to their fast maneuvering, simple controllers, and energy saving characteristics. A new adaptive algorithm for tracking control of these robots is presented in this paper which is robust against external and internal disturbances. A combination of model reference adaptive control and gain scheduling...