The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The present paper uses the learning ability of neural networks (NN) for nonlinear systems in order to design a controller for trajectory tracking problems in wheeled mobile robots that have their kinematic constraints violated. The singular perturbation approach is used to highlight the presence of uncertainties related to the violation of the kinematic constraints and propose an alternative global...
This paper studies a formation control problem for multiple mobile robot systems with model uncertainty. The formation is achieved by a distributed robust predictive control algorithm. Firstly, a distributed model of the formation system is derived by using the path tracking error dynamic of single mobile robot. Considering the error of linearization and measurement error caused by the accelerometer...
The experimental method of a robust adaptive trajectory tracking control of nonholonomic wheeled mobile robots using only web camera is proposed. This paper proposes an experimental system for using video camera images in MATLAB / Simulink(R)using donated software. We make a simple contrivance, the coordinates information which can be given by video camera image can take into MATLAB/Simulink, and...
Autonomous mobile robots use vision sensors for navigation due to its ability to provide detailed information of the environment. Visual perception of an environment, is an important capability for mobile robots, so many efforts are leading the research community for such a fundamental and challenging task. An aspect to emphasize is that vision systems have to cope with uncertainty because sensors...
This paper proposes a prescribed performance function based control method for trajectory tracking of non-holonomic mobile robots with collision avoidance. To design a simple controller, the prescribed performance function based algorithm that does not require the adaptive or the intelligent method to compensate the uncertainties is used. For the collision avoidance, the virtual heading angle which...
This paper presents the speed tracking control of unicycle type mobile robot in the presence of environmental disturbances and model uncertainties. In order to solve tracking issues, a Linear Active Disturbance Rejection Control (LADRC) based control is proposed here. the forces and voltages of the motors acting on the two wheels are considered in the dynamic model of the robot. The proposed control...
This paper investigates the leader-follower tracking control problem for non-holonomic mobile robots based on fuzzy controller based approach. The trajectory tracking control for a single mobile robot is extended to the formation control for multiple mobile robots. This paper proposes for enhancement the follower performance, interval fuzzy type-2 controller is used. By taking the simulation and simple...
A tractor-trailer wheeled robot (TTWR) is a kind of modular robotic system that consist of the tractor and the trailer are mechanically coupled to each other. It is impossible to obtain an exact dynamics model due to unknown parameters, or unpredictable and irregular features, external disturbance. Because of the non-holonomic constraints property, this paper proposes an adaptive robust cascade controller...
This article examines the experimental issues associated with the area coverage problem using a network of mobile robots. The developed schemes in the literature assume an unrealistic perfect knowledge of each point-robot's position. To account for the imprecise robots' localization, the covered space partitioning relies on the Guaranteed Voronoi (GV) principle, under the assumption of uniform radial...
The importance of communication in many multirobot information-gathering tasks requires the availability of reliable communication maps. These provide estimates of the radio signal strength and can be used to predict the presence of communication links between different locations of the environment. In the problem we consider, a team of mobile robots has to build such maps autonomously in a robot-to-robot...
This paper presents a simple adaptive tracking control approach for wheeled mobile robot(WMR) with unknown parameters, as well as actuator dynamics. A robust adaptive controller is developed for WMR, which can not only compensate uncertainties in kinematic and dynamic model as well as actuator dynamics uncertainties, but also make WMR have a better performance of tracking desired trajectory. Moreover,...
The use of the type-2 fuzzy logic system (FLS) allows to a mobile robot to handle various uncertainties which can face it in an unknown environment. Actually, the type-2 FLS has become a popular approach applied for different control applications. In this paper, we will show the benefit of using the type-2 FLS on mobile robot navigation, comparing to the use of type-1 FLS. The procedure of this work...
The wheeled mobile robot navigation is represent by teleoperation system. That is communications are shared by master robot, as based current communication the wheeled mobile action like wheeled slippage and position which is observed by slave robot. Finite time control of wheeled mobile robot with Soft Computing system under unknown environment of obstacle avoidance and parametric uncertainties is...
Navigation of mobile robots in dynamic and unknown environments is usually cluttered with noise and errors. In the literature, several solutions have been proposed. Recently, type-2 fuzzy logic have showed having the ability to handle uncertainties, imprecise and incomplete data. Since, it has been constituted a new hopeful and promising technique for further improve control of mobile robots in real...
This paper illustrates trajectory tracking control of nonholonomic system, which is mobile robot (MR). In order to resolve the tracking issue, kinematic and adaptive dynamic controllers are presented. The wheel actuator dynamics (DC motor) is taken into account. Therefore, the control inputs are the actuator input voltages. The developed control law is able to cope with unknown dynamics. The convergence...
This paper presents a review on mobile robot localization techniques that use infrared lights as artificial reference objects. Dead reckoning provides only approximate robot position estimation but the uncertainty in robot position increases with time due to inaccuracies in robot configuration and motion. A best state estimator algorithm is presented that combines robot odometry and infrared light...
This paper describes the design concept of the human assistant robot I-PENTAR (Inverted PENdulum Type Assistant Robot) aiming at the coexistence of safety and work capability and its mobile control strategy. I-PENTAR is a humanoid type robot which consists of a body with a waist joint, arms designed for safety, and a wheeled inverted pendulum mobile platform. Although the arms are designed low-power...
Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this paper we apply our MissionLab/VIPARS mission design and verification approach to an autonomous robot mission that uses probabilistic localization software. Two approaches to modeling...
In a robot mobile system, various sources of disturbances exist simultaneously. To deal with a real practical situation for nonholonomic mobile robot control, both the dynamics of the robot system and the upper bound of the perturbation are assumed to be completely unknown, and a new robust adaptive neural network based controller is proposed in this paper. Accordingly, some adaptive laws are introduced...
Omnidirectional mobile robots with four Mecanum wheels are used in various homes, military, nuclear power plant, industrial, hospital and space applications. A lot of research has been done using three universal wheels but trajectory control for four Mecanum wheeled mobile robot (FMWMR) in presence of uncertainties still needs attention. Thus, to obtain smooth motion of mobile robots, with chattering...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.