This paper describes the design and development of a fuzzy logic controller for the position control of wheeled mobile robots (WMRs). The WMRs are of the type applied in Micro Robot Soccer Tournament (MIROSOT). To meet the control objective, conventional methods rely on an accurate dynamic model of the open-loop plant, as well as a well-calibrated image system. To alleviate these limitations, w...

This paper has studied techniques for building system configuration, control architecture and implementation of a vision-based wheeled mobile robot. The completed WMR has been built with the dead-reckoning method so as to determine the vehicle’s velocity and posture by the numerical differentiation/integration over short travelling. The developed PID controllers show good transient performances...

This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in...

This paper proposes a robust tracking controller based on a Generalized Extended State Observer (GESO) method for a wheeled mobile robot (WMR) with unknown skidding and slipping. Skidding and slipping of a WMR are inevitable in practice. We regard skidding and slipping as disturbances and modify the dynamics model to consider them simply. Then, we adopt the GESO to design...

In this paper, a novel approach for the optimal combination of binary classifiers is proposed. The classifier combination problem is approached from a Game Theory perspective. The proposed framework of adapted weighted majority rules (WMR) is tested against common rank-based, Bayesian and simple majority models, as well as two soft-output averaging rules. Experiments with ensembles of Support V...

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...

This paper addresses the problem of path following for wheeled mobile robots (WMRs) by utilizing a novel guidance-based approach. The guidance laws are developed at an ideal, dynamics-independent level, entailing generically valid laws not influenced by particular peculiarities relating to any given dynamics case. Hence, the resulting guidancebased framework is equally applicable to any planar ...

This study aimed to carry out a systematic analysis of the literature on environmental impactsof waste resulting from year-round maintenance roads (WMR) with deicing agents. The impacts economic factors and environment at all stages life cycle were systematically examined, taking into account engineering technological efficiencies, direct, indirect, prolonged deferred effects. A structural-inte...

Just, Fabian M.S.E.C.E., Purdue University, December 2013. A Strategy for Minimizing Parkinsonian Noise from a Joystick Controlled Wheeled Mobile Robot . Major Professor: Raymond A. DeCarlo. This thesis investigates movement of an electric wheelchair as a wheeled mobile robot (WMR) with a battery rechargeable through regenerative braking.The WMR has two wheels, each of which can propel or brake...

Abstract: Subject of this paper is a method for consideration of control variable limits of single actuators in a redundant driven kinematic structure of a wheeled mobile robot (wmr). It is assumed that the desired robot state is given by the translational and rotational velocity of a coordinate system fixed to the robot frame. With the assumption of rigid body elements, motion is possible only...