designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. for this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

This paper proposes a novel trajectory tracking control approach for nonholonomic wheeled mobile robots. In this approach, the integration of feed-forward and feedback controls is presented to design the kinematic controller of wheeled mobile robots, where the control law is constructed on the basis of Lyapunov stability theory, for generating the precisely desired velocity as the input of the ...

In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

This paper presents, analyzes and compares two different kinematic modeling methods for obtaining the kinematic model of general wheeled mobile robots. The two kinematic modeling methods are based on absolutely different concepts: on the one hand the constraints of each wheel and on the other the well known homogeneous transformation matrix theory. These methods are applied to the most common w...

In this work, we study cooperation in a heterogeneous swarm robotic system composed of wheeled and aerial robots. The wheeled robots are able to physically connect to one another autonomously and thus form collective robotic entities. The aerial robots have a privileged overview of the environment since they can fly and attach to metal ceilings. We present a system that enables spatially target...

This paper presents experimental analysis of wheeled mobile robots. Mathematical modelling of the mobile robot is presented. The mobile robots consist of an omni-directional and three differential drive mobile robots are tested and moved in given trajectories and the systematic errors of the robots are determined. A new method for omni-direction mobile robot was introduced in which the robot wa...

Abstract: Self-balancing control is the basis for applications of two-wheeled robots. In order to improve the self-balancing of twowheeled robots, we propose a hierarchical reinforcement learning algorithm for controlling the balance of two-wheeled robots. After describing the subgoals of hierarchical reinforcement learning, we extract features for subgoals, define a feature value vector and it...