Results 191 to 200 of about 1,926 (244)

On the Kinematics of Wheeled Mobile Robots

The International Journal of Robotics Research, 1989
A wheeled mobile robot is here modelled as a planar rigid body that rides on an arbitrary number of wheels. The rela tionship between the rigid body motion of the robot and the steering and drive rates of wheels is developed. In particular, conditions are obtained that guarantee that rolling without skidding or sliding can occur.
James C. Alexander, John H. Maddocks
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Internal dynamics of a wheeled mobile robot

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002
Since the dynamics of a wheeled mobile robot is nonlinear, the feedback linearization technique is commonly used to linearize the input-output map. The input-output linearized system has a nonlinear internal dynamics. In this paper, the internal dynamics of the mobile robot under the look-ahead control is first characterized.
Xiaoping Yun, Yoshio Yamamoto
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Dynamic tracking of a wheeled mobile robot

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002
Based on a dynamic model of a wheeled mobile robot (WMR), a dynamic control method is developed so that the WMR tracks a desired trajectory. The full nonlinear dynamics and the kinematic constraints are embodied in the controller. The steering and driving torques are chosen as the control inputs.
Zhongping Deng, Michael Brady 0001
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Kinematics for modular wheeled mobile robots

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002
The kinematics for modular wheeled mobile robots is presented. Basic theory of planar motion is used to derive inverse and forward kinematics. The inverse kinematics is inherently modular, whereas the information form of a least-squares estimator is required to completely modularize the forward kinematics. An implementation is described and results are
Thomas Burke, Hugh F. Durrant-Whyte
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Robust controller for wheeled mobile robots

2012 American Control Conference (ACC), 2012
A guidance and control system has been developed for the autonomous operation of under-actuated mobile robots. The guidance system is based on the concepts of the line-of-sight (LOS) with the acceptance radius. It empowers the controller to simultaneously deal with the cross-track error while yielding the proper orientation of the robot.
Nabil G. Chalhoub, Sherif M. A. Matta
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Fuzzy Modeling of a Wheeled Mobile Robot

International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce (CIMCA-IAWTIC'06), 2006
Fuzzy modeling is one of the major topics in the field of modeling of mobile robot. Fuzzy modeling of a mobile robot is presented in this paper. Due to the uncertainties and parameters variation during the motion of the mobile robot, it is necessary to develop an intelligent model that is able to tune its parameters to match any unexpected/uncounted ...
K. N. Faress, M. T. El-Hagry, A. A. El-Kousy   +2 more
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Kinematic modeling of wheeled mobile robots

Journal of Robotic Systems, 1987
AbstractWe formulate the kinematic equations of motion of wheeled mobile robots incorporating conventional, omnidirectional, and ball wheels.1 We extend the kinematic modeling of stationary manipulators to accommodate such special characteristics of wheeled mobile robots as multiple closed‐link chains, higher‐pair contact points between a wheel and a ...
Patrick F. Muir, Charles P. Neuman
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Backstepping controller for a wheeled mobile robot

2015 4th International Conference on Systems and Control (ICSC), 2015
In this paper, a control algorithm based on Backstepping technique for differential drive mobile robot path tracking is developed. The use of backstepping theory to solve the problem of path tracking is relatively new in the field of mobile robots control.
Gh. Zidani, Saïd Drid, Larbi Chrifi-Alaoui, A. Benmakhlouf, S. Chaouch   +4 more
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On the control of a wheeled mobile robot goalkeeper

IEEE Conference on Robotics, Automation and Mechatronics, 2004., 2005
This paper deals with the control of a wheeled mobile robot goalkeeper, where the goalkeeper's task is to intercept the ball before it goes inside the goal. The control law is based on the use of the kinematics equations and some geometrical rules. In our control strategy, the goalkeeper moves in a predefined path which corresponds to a rendezvous ...
Fethi Belkhouche, Boumediene Belkhouche
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Nonlinear Control Of Wheeled Mobile Robots

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
Kinematic models for the description of wheeled mobile robots are introduced. The nonlinear controllabilityof these ciystems is proved. It is shown that the wheeled mobile robot cannot be asymptotically stabilized to a configuration (or position) by using time-invariant continuous feedback.
Yilin Zhao, Mahmut Reyhanoglu
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