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Mobility augmentation of conventional wheeled bases for omnidirectional motion

Myung-Jin Jung, Jong-Hwan Kim
2002 IEEE Transactions on Robotics and Automation  
This paper presents the mobility augmentation method to provide omnidirectional mobility to nonomnidirectional wheeled bases.  ...  First, the kinematic model of a nonomnidirectional wheeled base and a link combined by an extra revolute/prismatic joint to the base is derived in a matrix-vector form.  ...  Since there is no nonholonomic constraint on the robot motion, such robots have the full degree of mobility [1] .  ... 
doi:10.1109/70.988977 fatcat:vr2vdautbreh5lkakjizqkvbcm

Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor Terrain

Amornphun Phunopas, Shinichi Inoue
2018 Journal of Robotics, Networking and Artificial Life (JRNAL)  
The four-wheeled omnidirectional platform is great to use for an indoor mobile robot. It can increasingly move and change heading directions. However, the robot is easy to slip when it is moving.  ...  The robot can estimate the positions using the Kalman filter and readjust itself to the planned path.  ...  Acknowledgements This work was funded by Science and Technology Research Institute, King Mongkut's University of Technology North Bangkok.  ... 
doi:10.2991/jrnal.2018.4.4.4 fatcat:klkar7edizehvpcolfvkxwa7yq

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

Eyad Almasri, Mustafa Kemal Uyguroğlu
2021 Symmetry  
In this paper, first, a compact mathematical model for a symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) is derived and verified.  ...  This general mathematical model provides an opportunity to conduct research, experiments, and comparisons on these omnidirectional mobile robots that have two, three, four, six, or even more omnidirectional  ...  The type of mobility categorizes the mobile robot into omnidirectional (holonomic) and nonholonomic.  ... 
doi:10.3390/sym13061033 fatcat:u5tzpatfsvbvdcqcpopqsczpaa

A novel time optimal path following controller with bounded velocities for mobile robots with independently steerable wheels

Reza Oftadeh, Reza Ghabcheloo, Jouni Mattila
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Mobile robots with independently steerable wheels possess many high maneuverability features of omnidirectional robots while benefiting from better performance and capability of moving on rough terrains  ...  The control algorithms developed in this paper have been evaluated on iMoro, a four wheel independently steered mobile manipulator designed and developed at IHA/TUT.  ...  Our future work will target performance improvement of the controller for mobile manipulation purposes and its fault tolerance.  ... 
doi:10.1109/iros.2013.6697055 dblp:conf/iros/OftadehGM13 fatcat:whiwwdnggrg3zoxij4ugmjq45q

HTG-Based Kinematic Modeling for Positioning of a Multi-Articulated Wheeled Mobile Manipulator

L. A. Zúñiga-Avilés, J. C. Pedraza-Ortega, E. Gorrostieta-Hurtado, S. Tovar-Arriaga, J. M. Ramos-Arreguín, M. A. Aceves-Fernández, J. E. Vargas-Soto
2014 Journal of Intelligent and Robotic Systems  
The approach uses an extension of a homogeneus transformation graph (HTG) which can be used in the kinematic modeling of mobile manipulators and unmanned aerial vehicles.  ...  This paper presents a novel methodology for positioning an explosive ordnance device (EOD) which consists of a mobile manipulator with 12 • of freedom.  ...  When the base is a wheeled platform subject to nonholonomic constraints, the robot is referred to as a nonholonomic mobile manipulator.  ... 
doi:10.1007/s10846-014-0032-y fatcat:ruvtilhlkbcgbdfe7uv6frs7ha

Omnidirectional Robotic Platform for Surveillance of Particle Accelerator Environments with Limited Space Areas

Carlos Prados Sesmero, Luca Rosario Buonocore, Mario Di Castro
2021 Applied Sciences  
This article presents the design of an omnidirectional robotic platform for tunnel inspection with spatial limitations.  ...  The accelerator is located within a tunnel that is divided by small doors of 400 × 200 mm dimensions, through which the robot has to cross.  ...  Also, the authors would like to thank the mechanics of the CERN robotics group for the work carried out in the construction of the prototype, and the corresponding tests in the real environment.  ... 
doi:10.3390/app11146631 fatcat:6r2l3idyjraazlmkfuvzw6hvue

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

Rini Akmeliawati, Safanah M. Raafat
2013 2013 9th Asian Control Conference (ASCC)  
formation control of nonholonomic wheeled mobile robots using only position measurements Hasan Poonawala*; Aykut Satici; Mark Spong 606 Control of Solid Oxide Fuel Cells: An Overview Marvin Leung; Gunhyung  ...  gain-scheduling control for a Hover: parametric H loop shaping approach Renan Pereira* 555 Time-Varying Formation control for Nonholonomic Wheeled Mobile Robots via Synchronization Ibrahim Sanhoury  ... 
doi:10.1109/ascc.2013.6606363 dblp:conf/ascc/AkmeliawatiR13 fatcat:l7enyvdgurhpdl6yetwsst3u7y

Remarks on the classification of wheeled mobile robots

Christoph Gruber, Michael Hofbaur
2016 Mechanical Sciences  
</strong> The subject of this work is modeling and classification of single-bodied wheeled mobile robots (WMRs).  ...  However, the precise conditions under which a model is the proper description of the kinematic capabilities of a robot were not clear.  ...  Edited by: A. Müller Reviewed by: two anonymous referees  ... 
doi:10.5194/ms-7-93-2016 fatcat:x7tywrznirdttiv7rzcs4watkq

A Q-Learning-Based Parameters Adaptive Algorithm for Formation Tracking Control of Multi-Mobile Robot Systems

Chen Zhang, Wen Qin, Ming-Can Fan, Ting Wang, Mou-Quan Shen, Miaomiao Wang
2022 Complexity  
This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots.  ...  In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy.  ...  BK20171019), the National Natural Science Foundation of China (Grant no. 61703175), and the Natural Science Foundation of Huizhou University (Grant no. hzu201806).  ... 
doi:10.1155/2022/5093277 fatcat:fgwmhd3dmverli3tdnvso6axum

2021 Index IEEE/ASME Transactions on Mechatronics Vol. 26

2021 IEEE/ASME transactions on mechatronics  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, TMECH Aug. 2021 1737-1744 Point Stabilization of Nonholonomic Mobile Robot by Bézier Smooth Subline Constraint Nonlinear Model Predictive Control.  ...  Thomas, G.C., +, TMECH Feb. 2021 586-591 Point Stabilization of Nonholonomic Mobile Robot by Bézier Smooth Subline Constraint Nonlinear Model Predictive Control.  ... 
doi:10.1109/tmech.2022.3141226 fatcat:xzamfdzhofblrdegiw7iqkjffq

The Fusing Framework Between Lifting Carrier and Tractor-Trailer for Modern Transportation

Ha Quang Thinh Ngo, Thanh Phuong Nguyen, Hung Nguyen
2019 Advances in Science, Technology and Engineering Systems  
The detailed design of prototype involves the development of hardware components and infrastructure. Later, the modeling of autonomous system is simulated on computer to meet the employed conditions.  ...  To compare with previous works, the enhancement of tractortrailer, lifting-carrier and auto-feeder using differential driving mechanism is merged successfully.  ...  Sometimes, the omnidirectional mobile robot including four mecanum wheels was installed in manufacturing fields.  ... 
doi:10.25046/aj040463 fatcat:6ipczrvrujgqna5szdffbntqya

Cooperative Object Transport in Multi-Robot Systems: A Review of the State-of-the-Art

Elio Tuci, Muhanad H. M. Alkilabi, Otar Akanyeti
2018 Frontiers in Robotics and AI  
In recent years, there has been a growing interest in designing multi-robot systems (hereafter MRSs) to provide cost effective, fault-tolerant and reliable solutions to a variety of automated applications  ...  While distilling the information, we purposefully avoid using hierarchical dichotomies, which have been traditionally used in the field of MRSs.  ...  ., 1998) , the authors extend this algorithm originally designed and tested on holonomic robots with velocity-controlled actuators to nonholonomic mobile robots driven by two wheels.  ... 
doi:10.3389/frobt.2018.00059 pmid:33500940 pmcid:PMC7805628 fatcat:dvjxo6dzkzdspfhyu76ttrnbzq

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, LRA April 2021 3631-3638 Development of an Agile Omnidirectional Mobile Robot With GRF Compensated Wheel-leg Mechanisms for Human Environments.  ...  Dang, F., +, LRA July 2021 5207-5214 Fasteners A Structure for Fast Stiffness-Variation and Omnidirectional-Steering Con-580-587 Fault Tolerant Multi-Robot Cooperative Localization Based on Covariance  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

The Marathon 2: A Navigation System [article]

Steve Macenski, Francisco Martín, Ruffin White, Jonatan Ginés Clavero
2020 arXiv   pre-print
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians.  ...  Navigation2 uses a behavior tree for navigator task orchestration and employs new methods designed for dynamic environments applicable to a wider variety of modern sensors.  ...  Extensions are in development to support nonholonomic robots of arbitrary shape.  ... 
arXiv:2003.00368v2 fatcat:g2bkfwpytnarhd5shuiaqixh3m

2019 Index IEEE Transactions on Industrial Informatics Vol. 15

2019 IEEE Transactions on Industrial Informatics  
Shi, X., +, TII March 2019 1775-1787 Model Predictive Tracking Control of Nonholonomic Mobile Robots With Coupled Input Constraints and Unknown Dynamics.  ...  Al Janaideh, M., +, TII Sept. 2019 4845-4856 Model Predictive Tracking Control of Nonholonomic Mobile Robots With Coupled Input Constraints and Unknown Dynamics.  ... 
doi:10.1109/tii.2020.2968165 fatcat:utk3ywxc6zgbdbfsys5f4otv7u
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