Results 11 to 20 of about 132,085 (214)
Flocking and formation control for a group of nonholonomic wheeled mobile robots
Cogent Engineering, 2023 The problem of flocking and formation of a group of nonholonomic wheeled mobile robot is addressed in this paper. Based on the cascade structure of the kinematic model, two kinematic controllers are proposed to achieve formation and flocking behaviors ...
Javier Pliego-Jiménez +4 more
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Scientific Reports, 2022 Synchronization between humans is often observed in our daily lives, for example in breathing, in hand clapping in crowds, and in walking. It has been reported that pedestrian gait synchronization maximizes walking flow efficiency.
Satoshi Yagi +3 more
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Nonlinear dynamics, 2021 This paper studies the distributed fixed-time formation tracking problem of multiple nonholonomic wheeled mobile robots system over directed fixed and switching topologies.
Fenglan Sun +3 more
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The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots
Robotics, 2021 Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on
Yankai Wang +3 more
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Mapless LiDAR Navigation Control of Wheeled Mobile Robots Based on Deep Imitation Learning
IEEE Access, 2021 This paper addresses the problems related to the mapless navigation control of wheeled mobile robots based on deep learning technology. The traditional navigation control framework is based on a global map of the environment, and its navigation ...
Chi-Yi Tsai, H. Nisar, Yu‐Chen Hu
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Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella
Biomimetics, 2023 Soft robots demonstrate an impressive ability to adapt to objects and environments. However, current soft mobile robots often use a single mode of movement.
Changlong Ye +4 more
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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
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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
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Actuators, 2021 Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task.
Xiaoshan Gao, Liang Yan, C. Gerada
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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
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