Results 211 to 220 of about 1,926 (244)

Kinematics, dynamics and control of wheeled mobile robots

Proceedings 1992 IEEE International Conference on Robotics and Automation, 2003
The controllability of nonholonomic robot systems is proved for six common wheel and axle configurations that possess two or three degrees of freedom. After the kinematics and dynamics were modeled using the synchro-drive vehicle as an example, it was proved that continuous feedback stabilization of the vehicle to an equilibrium point is impossible ...
Yilin Zhao, Spencer L. BeMent
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Control and Obstacle Avoidance of Wheeled Mobile Robot

2015 7th International Conference on Computational Intelligence, Communication Systems and Networks, 2015
The idea belong to presented work is to use a MPC (Model Predictive Control) controller combined with the feedback linearization in order to manage the control problem of a single robot with unicycle Kinematics and obstacle avoidance function. To guarantee the obstacle avoidance of wheeled mobile robot we use the widely popular concept of artificial ...
Muhammad Farhan Manzoor, Qinghe Wu
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Kinematic and dynamic control of a wheeled mobile robot

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007
This paper considers the problem of stabilizing a unicycle-type mobile robot using a time-invariant, discontinuous control law. In order to simplify the control design, most previous approaches neglect second-order system dynamics (compensating for them later using techniques such as partial feedback linearization).
David DeVon, Timothy Bretl
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Control of a Mobile Robot Subject to Wheel Slip

Journal of Intelligent & Robotic Systems, 2013
Wheel slip is inevitable when a Wheeled Mobile Robot (WMR) is moving at a high speed or on a slippery surface. In particular, when neither lateral nor longitudinal slips can be ignored in the dynamic model, a WMR becomes an under-actuated nonlinear dynamic system.
Yu Tian 0004, Nilanjan Sarkar
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Variable structure control for a wheeled mobile robot

Advanced Robotics, 2003
This paper is concerned with a robust control for wheeled mobile robots. Mobile robots equipped with undeformable wheels are referred to as 'wheeled mobile robots' and constitute a typical example of non-holonomic systems, where the standard control algorithms developed for robotic manipulators without constraints are no longer applicable.
M. Belhocine, Mustapha Hamerlain, F. Meraoubi   +2 more
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Feedback stabilization of a nonholonomic wheeled mobile robot

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002
When a nonlinear system is not stabilizable by a smooth state feedback, it is common to think of the discontinuous feedback as being the alternative. However, another possibility is to consider a smooth time-varying feedback in which the independent time index plays the role of an extra variable.
Claude Samson, Karim Ait-Abderrahim
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Four Wheeled Mobile Robots: A Review

2022 IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET), 2022
Jovina Seau Ling Leong, Kenneth Tze Kin Teo, Hou Pin Yoong   +2 more
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Control of uncertain wheeled mobile robots with slipping

49th IEEE Conference on Decision and Control (CDC), 2010
This paper considers the path tracking control of a wheeled mobile robot with slipping and unknown dynamics. A robust adaptive neural network based controller is proposed with the aid of backstepping techniques and the learning ability of neural networks. The proposed controller guarantees that the tracking error converges to a small ball of the origin
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Guided Formation Control for Wheeled Mobile Robots

2006 9th International Conference on Control, Automation, Robotics and Vision, 2006
This paper considers the topic of formation control for wheeled mobile robots (WMRs). Specifically, the work deals with unicycle-type WMRs (i.e., underactuated vehicles that experience a lateral zero-speed constraint, such that their linear velocity at all times is aligned with the longitudinal axis of symmetry).
Morten Breivik, Maxim V. Subbotin, Thor I. Fossen   +2 more
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Control of a wheeled mobile robot with double steering

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002
The motion of a vehicle with automated guidance (an AGV or a wheeled mobile robot) equipped with two steerable traction wheels in the front and rear is studied. Compared with a conventional form of these vehicles, there is some degree of redundancy in their system of path tracking.
Mostafa G. Mehrabi, R. M. H. Cheng, Ahmad Hemami   +2 more
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