Results 221 to 230 of about 1,920 (253)
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Control of a Mobile Robot Subject to Wheel Slip
Journal of Intelligent & Robotic Systems, 2013Wheel 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, 2003This 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non-holonomic systems, where the standard control algorithms developed for robotic manipulators without constraints are no longer applicable.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 +2 more
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Four Wheeled Mobile Robots: A Review
2022 IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET), 2022Jovina Seau Ling Leong +2 more
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Control of an articulated wheeled mobile robot in pipes
Advanced Robotics, 2019We propose a control method in which an articulated wheeled mobile robot moves inside straight, curved and branched pipes.
Hidemasa Sawabe +4 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, 2002When 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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Fuzzy Parking Manoeuvres of Wheeled Mobile Robots
NAFIPS 2007 - 2007 Annual Meeting of the North American Fuzzy Information Processing Society, 2007This work deals with the parking manoeuvres problem for a wheeled mobile robot (WMR). The robot has the same non-holonomic kinematic constraint that has a car vehicle. This constraint makes the robot having its direction always tangent to the trajectory. Two sub-cases of parking problems are considered.
Amar Khoukhi +2 more
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Control of uncertain wheeled mobile robots with slipping
49th IEEE Conference on Decision and Control (CDC), 2010This 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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A generic kinematic formulation for wheeled mobile robots
Journal of Robotic Systems, 1997This article presents a generic kinematic formulation and a procedure developed to deduce the kinematics of wheeled mobile robots (WMRs), also known in the literature as driverless ground vehicles, automated guided vehicles (AGVs), and autonomous transit vehicles (ATVs). The generic formulation to deduce the kinematics of WMRs with various combinations
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A single-wheeled mobile robot with a gyrostabilizer
Advanced Robotics, 1991Nobuhiro Iguchi +2 more
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