This paper introduces a solution to the reference trajectory tracking problem done by a differential wheeled mobile robot Khepera II. The paper includes a kinematic part and a dynamic part of the mathematical model of mobile robot. In this paper two approaches of the artificial intelligence are used i.e. genetic algorithm approach from evolutionary computing techniques and theory of neural netw...

Abstract This research focuses on the performance of obstacle avoidance feature implemented a wheeled mobile robot by using Sugeno Fuzzy Inference System (FIS). The test was done simulation software Webots and layout first draft out walls, floors, objects in order to set boundary obstacles for simulation. To effectiveness efficiency terms time distance, trajectory Khepera implementing FIS recor...

We report students' experiments with a small mobile robot, Khepera, developed at the Mi-crocomputing Laboratory of Swiss Federal Institute of Technology (LAMI{EPFL). Khepera makes teaching of programming languages and control theory easier and more compelling for students. In the experiments reported in this paper, students learn to write programs by designing control algorithms for the mobile ...

Mobile robots offer a typical example of systems with nonholonomic constraints. Several controllers have been proposed in the literature for stabilizing these systems. However, few experimental studies have been reported comparing the characteristics and the performance of these controllers with respect to neglected dynamics, quantization, noise, delays, etc. In this paper, we use a Khepera mob...

The purpose of this chapter is to introduce gently the basics concepts of Bayesian Programming. After a short formal introduction of Bayesian Programming, we present these concepts using three simple experiments with the mini mobile robot Khepera. These three instances have been selected among the numerous experiments done with this robots for their simplicity and didactic quality. A more exten...

This article describes an integrated environment developed for the evaluation of localization and navigation algorithms for mobile robots. The integrated environment, named KITE, superimposes spatial information obtained from the robot and its sensors, upon an overhead view of the robot’s environment. Using the overhead view as the common coordinate system, KITE creates an ideal test-bed in whi...

This paper presents a new robotic programming environment based on the probability calculus. We show how reactive behaviours, like obstacle avoidance, contour following, or even light following, can be programmed and learned by the Khepera with our system. We further demonstrate that behaviours can be combined either by programmation or learning. A homing behaviour is thus obtained by combining...

This paper presents a stereoscopic vision system for the mini-robot Khepera. The vision system performs objects detection by using the stereo disparity and stereo correspondence. The stereoscopic vision system enhances robot’s visual perception ability by grabbing stereo images and analysis 3D objects, while the robot doesn’t need to move. The simple principle of our stereo vision is the less d...