Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

In this paper, we propose SURF feature based approach for mobile robot navigation. In this approach, we capture environmental images by using omni-directional camera and extract features of these images by using SURF. We treat these features as landmarks and estimate robot self-location and direction of motion. SURF features are invariant under scale change and rotation and robust under image n...

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

Due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. Despite recent advances, effective control and self-localization of omni-directional mobile robots remain as important and challenging issues. In this work, a practical approach for control and self-localization of an omni-directional robot is proposed. For this purpos...

Auditory displays for mobile service robots are developed. The design of digital-audio symbols, such as directional sounds and additional sounds for robot states, as well as the design of more complicated robot sound tracks are explained. Basic musical elements and robot movement sounds are combined. Two experimental studies, on the understandability of the directional sounds and on the auditor...

Abstract: This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to the robot during the trajectory following. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model. Simulati...

The structure of OmniKity-I (OK-I), the miniature omni-directional mobile robot, and its kinematics and dynamics models are presented. OK-I has three DOFs in the plane. A conventional two wheeled mobile robot (2-WMR) serves as the base of OK-I for translational motion. The robot body is on top of the base. The third motor controls angular motion of the body as the base turns according to the tr...

In this paper, the simple geometric kinematics of a three-wheeled holonomic mobile robot is proposed. Wheel architecture is developed for the holonomic mobile platform in order to provide omni-directional motions by three individually driven and steered wheels. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot can be a...

This paper describes a method to construct a stationary environmental map and estimate the ego-motion of a mobile robot from unknown planar motion by using an omni-directional vision sensor. Most environments where mobile robot works are limited to two-dimensional space and the environmental map which is necessary for mobile robot navigation has also two dimensions. However, conventional “Struc...