This paper is devoted to design and implement a non-holonomic wheeled mobile robot that possesses dynamic object-tracking capability by using real-time image processing. Two motion control laws are proposed using Lyapunov’s direct method and computed-torque method. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the mobile robot develo...

In this paper, modeling and nonlinear controller design for an omni-directional mobile robot are presented. Based on the robot dynamics model, a nonlinear controller is designed using the Trajectory Linearization Control (TLC) method. Some simulation results of the controller are presented.

This paper considers a method for the visual-based navigation of a mobile robot in an indoor environment. The sole sensor used is an omni-directional camera. Navigation is achieved by combining appearance based methods and visual servoing. A database of omni-directional images is obtained during a training stage. This database maps the environment in a topological sense. Since the image set is ...

Dynamic modelling of mobile robots is very important to design of controllers, mainly when the robots need to travel at higher velocity and perform heavy works. For example, in (Liu et al., 2003) and (Watanabe, 1998), control strategies for omnidirectional robots using the dynamic model are discussed. However, non-linearities, like motor dynamic constraints can greatly affect the robot behaviou...

This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo m...

In this paper, we propose an algorithm that combine the restriction on motor’s velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory’s following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor’s velocities. Simulation results of the algorithm applied to an omni...

A vision based navigation system is presented for determining a mobile robot’s position and orientation using panoramic imagery. Omni-directional sensors are useful in obtaining a field of view, permitting objects in the vicinity of a robot to be imaged simultaneously. Recognizing landmarks in a panoramic image from an a priori model of distinct features in an environment allows a robot’s locat...

Catadioptric Omni-Directional Stereo Vision (ODSV) technology is the combination of omni-directional imaging and stereo vision, which has wide application potentials on robot vision and large-scale video surveillance [1-4]. Fig.1 gives the framework of ODSV technology, which includes four major parts: the design of omni-directional stereo vision imaging system, unwarping of omni-directional ste...

This paper addresses the problem of autonomous mobile ro bot navigation in a simple indoor environment We present a system which combines the paradigm of visual servoing with appearance based methods The only sensory information available to the robot comes from an omni directional vision camera The geometry of our system which uses a spherical mirror is presented Our algorithm relies on a sequ...