Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of...

Recent advancements in mechatronics has led to tremendous development of application of robots for industrial applications involving high health hazards, rough working conditions and difficult to reach locations. Robot assisted welding is one such high risk operation for human being. The industrial arc welding robots are either mounted on the floor, table or on overhead rails. In this scenario,...

This paper deals with dynamic analysis of mobile robot equipped with three omni-directional wheels. The mobile robots contain subsystems from different physical domains and in the paper bond graphs are chosen as an appropriate technique for modelling and simulation. Model of Robotino mobile robot is developed and simulation is performed using the program BondSim, developed by the first author o...

It is shown how a holonomic and omni‐directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.

This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packag...

We describe a method for visual based robot navigation with a single omni-directional (catadioptric) camera. We show how omni-directional images can be used to generate the representations needed for two main navigation modalities: Topological Navigation and Visual Path Following. Topological Navigation relies on the robot’s qualitative global position, estimated from a set of omni-directional ...

This dissertation describes the implementation of an omni-directional vision system as sole sensor for a robot building a topological map of an indoor environment, using the Spatial Semantic Hierarchy created by Benjamin Kuipers [Kuipers 00]. So far, no attempt to implement the SSH using a vision sensor has been made. We will show that an omni-directional vision system is a good sensor for the ...