Results 11 to 20 of about 16,326 (247)
Design and implementation of membrane controllers for trajectory tracking of nonholonomic wheeled mobile robots [PDF]
, 2015 YesThis paper proposes a novel trajectory tracking control approach for nonholonomic wheeled mobile robots. In this approach, the integration of feed-forward and feedback controls is presented to design the kinematic controller of wheeled mobile robots,
Gheorghe, Marian +7 more
core +2 more sources
Modeling of slip for wheeled mobile robots [PDF]
IEEE Transactions on Robotics and Automation, 1995 Wheeled mobile robots (WMRs) are known to be non-holonomic systems, and most dynamic models of WMRs assume that the wheels undergo rolling without slipping. This paper deals with the problem of modeling and simulation of motion of a WMR when the conditions for rolling are not satisfied at the wheels.
Balakrishna, R, Ghosal, Ashitava
openaire +2 more sources
Energy-Time optimal control of wheeled mobile robots
Journal of the Franklin Institute, 2022 This paper focuses on the energy-time optimal control of wheeled mobile robots undergoing point-to-point transitions in an obstacles free space. Two interchangeable models are used to arrive at the necessary conditions for optimality. The first formulation exploits the Hamiltonian, while the second formulation considers the first variation of the ...
Y. Kim, T. Singh
openaire +3 more sources
Dynamics of a four‐wheeled mobile robot with Mecanum wheels [PDF]
ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik, 2019 AbstractThe paper deals with the dynamics of a mobile robot with four Mecanum wheels. For such a system the kinematical rolling conditions lead to non‐holonomic constraints. From the framework of non‐holonomic mechanics Chaplygin's equation is used to obtain the exact equation of motion for the robot.
Zeidis, Igor, Zimmermann, Klaus
openaire +2 more sources
Wheeled mobile robot design with robustness properties
Advances in Mechanical Engineering, 2018 A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling ...
Yung Yue Chen +2 more
doaj +1 more source
Robust control of a redundant wheeled drive system for energy saving and fail safe motion
Advances in Mechanical Engineering, 2017 This article presents sliding mode–based robust tracking control for a redundant wheeled drive system, which is designed for energy saving and fail safe motion.
Shuaiby Mohamed +2 more
doaj +1 more source
Improved ORB-SLAM2 Mobile Robot Vision Algorithm Based on Multiple Feature Fusion
IEEE Access, 2023 Traditional wheeled robot vision algorithms suffer from low texture tracking failures. Therefore, this study proposes a vision improvement algorithm for mobile robots in view of multi feature fusion; This algorithm introduces line surface features and ...
Xiaomei Hu +4 more
doaj +1 more source
Journal of Mechatronics, Electrical Power, and Vehicular Technology, 2017 This paper investigates formation control of multiple nonholonomic differential drive wheeled mobile robots (WMRs). Assume the communication between the mobile robots is possible where the leader mobile robot can share its state values to the follower ...
Ali Alouache, Qinghe Wu
doaj +1 more source
Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning
Sensors, 2021 Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging
Mohammad Samadi Gharajeh +1 more
doaj +1 more source
Control de Tracción en Robots Móviles con Ruedas
Revista Iberoamericana de Automática e Informática Industrial RIAI, 2012 Resumen: En este trabajo se presenta una solución para mejorar el rendimiento de los robots móviles con ruedas que se desplacen sobre superficies con un bajo coeficiente de fricción estática.
R. Fernández, R. Aracil, M. Armada
doaj +1 more source