Results 201 to 210 of about 1,920 (253)

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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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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Coverage with a Team of Wheeled Mobile Robots

Journal of Intelligent & Robotic Systems, 2014
This article presents a control system enabling coverage of a prescribed ground area by a team of wheeled mobile robots. The control system relies on equal balancing of the costs among the wheeled robots. Cost balancing leverages the intuition that a healthy neighbor could help a degraded robot to carry out its monitoring task simply by moving slightly
Camille Alain Rabbath, Nicolas Léchevin
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A survey on visual servoing for wheeled mobile robots

International Journal of Intelligent Robotics and Applications, 2021
Owing to advantages of large workspace and flexible movement, wheeled mobile robots are widely applied in industry. With vision module for environment perception, visual servoing of wheeled mobile robots has been one of the hottest research topics in robotic fields. Due to different demands for various applications and specific properties of the system,
Chenping Li, Baoquan Li, Runhua Wang, Xuebo Zhang   +3 more
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Synchronization of mobile robot's actuated wheels

SPIE Proceedings, 2015
Quintic Bezier splines are capable of dynamic adaptive path changes in curvature continuous fashion. This paper presents a general purpose method for synchronizing the turning and steering rates of a mobile robot’s wheels according to a given velocity profile when traversing a quintic Bezier spline or some other differentiable parametric curve.
Röning Juha, Pitkänen Ville, Tikanmäki Antti   +2 more
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Robust Control Laws for Wheeled Mobile Robots

IFAC Proceedings Volumes, 1996
The paper deals with feedback control of wheeled mobile robots. The proposed controller is based on a tracking scheme where the real robot tracks a fictitious reference one with equivalent kinematical properties. A solution to the parking problem is derived from the basic tracking scheme by considering a reference vehicle which converges to the desired
Tarek Hamel, Dominique Meizel
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