Mobile robot navigation has remained an open problem over the last two decades. Mobile robots are required to navigate in unknown and dynamic environments, and in recent years the use of mobile robots in material handling has considerably increased. Usually workers push carts around warehouses and manually handle orders which is not very cost‐effective. To this e...

The paper deals with the modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. First, the vehicle kinematics model and the control strategies using a feedforward compensator are analyzed. Second, fuzzy reactive control of a mobile robot motion in an unknow...

A coordinated control framework for multiagent systems using sliding mode control approach was developed in (Ghasemi and Nersesov, 2013). The framework addresses a general class of underactuated agents and presents a specialization to the agents represented by wheeled mobile robots. In this paper, we extend the results of (Ghasemi and Nersesov, 2013) to incorporate the obstacle/collision avoida...

Autonomous and teleo erated mobile robots require an ccurate knowledge of their spatial location in order to accomplish many tasks. Many mobile robots make use of dead reckoning navigation because of its simplicity, low cost and robustness. Although dead reckoning navigation has been used for centuries for ships and wheeled vehicles, the application to a walking machine is novel. Since walking ...

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...