Algorithms, 2021 Wheeled mobile robots are widely implemented in the field environment where slipping and skidding may often occur. This paper presents a self-adaptive path tracking control framework based on a radial basis function (RBF) neural network to overcome ...
Yiting Kang, Biao Xue, Riya Zeng
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Slide-Down Prevention for Wheeled Mobile Robots on Slopes [PDF]
, 2017 Wheeled mobile robots on inclined terrain can slide down due to loss of traction and gravity. This type of instability, which is different from tip-over, can provoke uncontrolled motion or get the vehicle stuck.
Garcia-Cerezo, Alfonso J. +3 more
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Design and Simulation of a Fuzzy Trajectory Tracking Controller for Linear graph Four Wheel Skid-steer Mobile-Robot with Obstacle Avoidance [PDF]
AUT Journal of Mechanical EngineeringThis article presents a Fuzzy Trajectory Tracking Controller for a Linear graph model of Four four-wheel skid-steer mobile robots by leveraging a state space model derived from McCormick's work focusing on navigation and obstacle avoidance.
Ali Pahlavan, Saeed Khankalantary
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Constrained Model Predictive Control of a skid-steering mobile robot [PDF]
2009 European Control Conference (ECC), 2009 In this paper, a kinematic model of a four-wheel skid-steering mobile robot is presented and a receding horizon stabilizing control law for the system is developed, based on the optimization of a quadratic cost function on the system states and control inputs.
Federico Bribiesca Argomedo +2 more
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Characterizing Energy Usage of a Commercially Available Ground Robot: Method and Results [PDF]
, 2014 Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/106934/1/rob21507 ...
Atkins, Ella M. +2 more
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Dynamic Arc Fitting Path Follower for Skid-Steered Mobile Robots [PDF]
International Journal of Advanced Robotic Systems, 2015 Many applications, such as surveillance, inspection or search and rescue operations, can be performed with autonomous robots. Our aim is a control of modular autonomous systems in rescue robotics. One of the basic problems with autonomous robotics is the execution part where the control commands (translation and rotational velocities) are produced for
Lepej, Peter +3 more
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Improving 3D Scan Matching Time of the Coarse Binary Cubes Method with Fast Spatial Subsampling [PDF]
, 2013 Morales, J.; Martinez, J.L.; Mandow, A.; Reina, A.J.; Seron, J.; Garcia-Cerezo, A., "Improving 3D scan matching time of the coarse binary cubes method with fast spatial subsampling," 39th Annual Conference of the IEEE Industrial Electronics Society, pp.
Garcia-Cerezo, Alfonso J. +5 more
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Model Based On-Line Energy Prediction System for Semi-Autonomous Mobile Robots [PDF]
, 2014 Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the ...
Ferre Pérez, Manuel +2 more
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Navigability Analysis of Natural Terrains with Fuzzy Elevation Maps from Ground-based 3D Range Scans [PDF]
, 2013 Mobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from ground-based 3D laser rangefinders.
Cantador, T. J. +5 more
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HRA*: Hybrid randomized path planning for complex 3D environments [PDF]
, 2014 Trabajo presentado al IROS celebrado en Tokyo del 3 al 7 de noviembre de 2013.We propose HRA*, a new randomized path planner for complex 3D environments.
Andrade-Cetto, Juan +1 more
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