Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following...

Wheeled mobile robots are increasingly present in industrial and service robotics, requiring adequate solutions for the motion control problem. With reference to the unicycle kinematics, several control strategies for trajectory tracking and posture stabilization are reviewed and compared on simulation and experimental level. Experiments are reported for BellyBot, a two-wheel differentially-dri...

In this paper, we examine the design and selection of optimal configuration of a system of multiple, wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially driven wheeled mobile robot (WMR) with a passive, two degree-of-freedom (d.o.f), planar revolute-jointed arm mounted in the ...

This paper describes a multiple criterion, statistical technique for mobile robot evaluation. The evaluation method measures the time and energy costs of a particular class of exploratory missions. The method is implemented in the special case of one wheeled mobile robot in the lab which was made to execute several (approximately 100) instances of the mission. It is proposed that a validated, d...

This paper 1 describes a multiple criteria, statistical technique for mobile robot evaluation. The evaluation method measures the time and energy costs of a particular class of exploratory missions. The method is implemented in the special case of one wheeled mobile robot in the lab which was made to execute several (approximately 100) instances of the mission. It is proposed that a validated, ...

S. Ali A. Moosavian and A. Pourreza 2 Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering, K. N. Toosi Univ. of Technology Tehran, Iran, P.O. Box 19395-1999, Fax: (+98) 21 8867-4748 Corresponding Author E-mail: [email protected] Abstract In this study, kinematics and dynamics of a compounded serial-parallel wheeled mobile robot is elaborated. The newl...

Three single-valued upper boundary functions for velocity, acceleration and deceleration of a wheeled mobile robot (WMR) are defined as closed mathematical forms over its entire spatial path. The limits deal with mechanical, kinematic and dynamic characteristics of the robot and with task and operating matters. These boundary functions can be computed making use of any robot model, as complex a...

The subject of this chapter is the motion control problem of wheeled mobile robots (WMRs). With reference to the unicycle kinematics, we review and compare several control strategies for trajectory tracking and posture stabilization in an environment free of obstacles. Experiments are reported for SuperMARIO, a two-wheel differentially-driven mobile robot. From the comparison of the obtained re...

This paper presents the synthesis of a control law which guarantees asymptotic stability for a wheeled mobile robot under slip conditions subject to both constraints and system dynamics. This control law is obtained using Linear Matrix Inequalities. The improvements provided by the proposed adaptive control are compared with other control laws, dealing with slip effect, through simulation.

We wish to organize movable objects with teams of mobile robots in dynamic, unstructured environments. We describe a distributed heterogeneous system of robots that cooperate to achieve this task. We describe on-line algorithms for pushing, reorienting, \grasping", and placing objects in dynamic, unstruc-tured environments with wheeled robots. We also describe on-line algorithms for \pulling" a...