Kinematics and the dynamics analysis of a two-wheeled mobile robot comprising an oscillating intermediate central body are established in the paper. The dynamics of this mechanical system is formulated using the fundamental principle of virtual work, but it has been verified the results in the framework of the Lagrange formalism with their multipliers. The study of the dynamics problems of the ...

This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steered wheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is contr...

This paper presents the intelligent wheeled mobile robot motion control in unstructured environments. The fuzzy control of a wheeled mobile robot motion in unstructured environments with obstacles and slopes is proposed. Outputs of the fuzzy controller are the angular speed difference between the left and right wheels of the mobile robot and the mobile robot velocity. The simulation results sho...

One of the major tasks of autonomous robot navigation elimination of robot errors. These errors are caused by imperfections in the design and mechanical implementation of robots. This paper presents experimental and statistical analysis of wheeled robots. The mobile robots consist of three differential drive robots that tested and moved in given trajectories and then the systematic errors of th...

A Posture Control for Two Wheeled Mobile Robots Hyun-Sik Shim and Yoon-Gyeoung Sung Abstract: In this paper, a posture control for nonholonomic mobile robots is proposed with an empirical basis. In order to obtain fast and consecutive motions in realistic applications, the motion requirements of a mobile robot are de ned. Under the assumption of a velocity controller designed with the selection...

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...

Although the wheeled locomotion proved to be very efficient on smooth grounds, it still encounters great difficulties in natural environments, where the ground is subject to wide variations in term of geometry (irregular surface, presence of obstacles...) and material properties (cohesion, grip condition...). This chapter presents recent developments and original systems that improve the capaci...