To address the limitations of conventional mobile robot path planning results in terms of geometric continuity, kinematic executability, and adaptability to dynamic environments, this study proposes a reference trajectory generation method oriented t...
This paper addresses the problem of designing an algorithm capable of generating chaotic trajectories for mobile robots. In particular, the chaotic behavior is induced in the linear and angular velocities of a differential drive mobile robot by infus...
Trajectory tracking control is important in order to realize autonomous driving of mobile robots. From a control standpoint, trajectory tracking can be stated as the problem of stabilizing a tracking error system that describes both position and orie...
The design of movement trajectories for mobile sink plays an important role in data gathering for Wireless Sensor Networks (WSNs), as it affects the network coverage, and packet delivery ratio, as well as the network lifetime. In some scenarios, the...
In order to better meet the practical application needs of mobile robots, this study innovatively designs an autonomous obstacle avoidance and trajectory planning control strategy with low computational complexity, high cost-effectiveness, and the ab...
This paper presents a Neural Backstepping control strategy for trajectory tracking of a differential-drive mobile robot. The proposed approach combines a dynamic-level backstepping controller with a lightweight single-hidden-layer adaptive neural net...
This paper investigates the system modeling and trajectory tracking control problem of an off-axis tractor-trailer wheeled mobile system and proposes a control strategy based on an integral sliding surface and a super-twisting algorithm. First, the m...
This research presents a nonlinear adaptive optimal control approach to the trajectory tracking problem of a swarm of autonomous mobile robots. Mathematically, finding an analytical adaptive control solution that meets the H2 performance index for th...
Trajectory data are often used as important auxiliary information in preprocessing and extracting the target from mobile laser scanning data. However, the trajectory data stored independently may be lost and destroyed for various reasons, making the...
Mobile laser scanning (MLS, or mobile lidar) is a 3-D data acquisition technique that has been widely used in a variety of applications in recent years due to its high accuracy and efficiency. However, given the large data volume and complexity of th...
In this paper, we propose an optimized differential evolution algorithm based on kinematic limitations and structural complexity constraints to solve the trajectory tracking problem for a mobile manipulator robot. The traditional method mainly involv...
A novel variable structure controller based on sliding mode is developed for addressing the trajectory tracking challenge encountered by wheeled mobile robots. Firstly, the trajectory tracking error model under the global coordinate system is establi...
Mobile crowdsensing (MCS) leverages the sensing capabilities of mobile devices carried by a vast number of participants to accomplish large-scale urban sensing tasks. In MCS systems, participants continuously generate trajectory streams while uploadi...
With the fast development of commercial unmanned aerial vehicle (UAV) technology, there are increasing research interests on UAV communications. In this work, the mobility and deployment flexibility of UAVs are exploited to form a buffer-aided relayi...
With the rapid development of robotics, wheeled mobile robots are widely used in smart factories to perform navigation tasks. In this paper, an optimal trajectory planning method based on an improved dolphin swarm algorithm is proposed to balance loc...
As an emerging computing model, edge computing greatly expands the collaboration capabilities of the servers. It makes full use of the available resources around the users to quickly complete the task request coming from the terminal devices. Task of...
This paper proposes a method for trajectory planning and control of a mobile robot for application in picture drawing from images. The robot is an accurate differential drive mobile robot platform controlled by a field-programmable-gate-array (FPGA)...
The paper considers the problem of tracking a moving target using a pair of cooperative bearing-only mobile sensors. Sensor trajectory optimisation plays the central role in this problem, with the objective to minimize the estimation error of the tar...
This paper presents an obstacle-avoidance trajectory tracking method based on a nonlinear model prediction, with a dynamic environment considered in the trajectory tracking of nonholonomic mobile robots for obstacle avoidance. In this method, collisi...
Trajectory tracking is a fundamental requirement for omnidirectional mobile robots operating in autonomous navigation and service applications. Although conventional proportional–derivative (PD) controllers are widely used because of their simp...
State-of-the-art indoor mobile laser scanners are now lightweight and portable enough to be carried by humans. They allow the user to map challenging environments such as multi-story buildings and staircases while continuously walking through the bui...
The proposed work presents a Sliding Mode Controller (SMC) for trajectory tracking of a TurtleBot3 Burger mobile robot based on sliding mode. Trajectory tracking is performed in congested environments; therefore, an obstacle avoidance strategy is pre...
Clustering analysis is one of the most important issues in trajectory data mining. Trajectory clustering can be widely applied in the detection of hotspots, mobile pattern analysis, urban transportation control, and hurricane prediction, etc. To obta...
In order to achieve the safe and efficient navigation of mobile robots, it is essential to consider both the environmental geometry and kinodynamic constraints of robots. We propose a trajectory planner for car-like robots on the basis of the Dual-Tr...
Mobile edge computing (MEC) deployed in unmanned aerial vehicles (UAVs) has shown special strength by enhancing computational capacity and prolonging the battery lives of terrestrial user equipment (UE). Nevertheless, current research lacks studies o...
Continuous impact vibrations caused by uneven road surfaces (such as speed bumps) can significantly reduce the trajectory tracking accuracy of mobile manipulator. This study proposes for the first time an integrated framework combining a semi-active...
Research on trajectory tracking control for climbing welding robots holds significant importance in the field of automated welding. However, existing trajectory tracking methods suffer from issues such as jitter and slow speed. In this paper, an impr...
This article investigates the trajectory tracking control of a differential-drive two-wheeled mobile robot (DDWMR) using its kinematic model, framed in the context of sustainability. A nonlinear-to-linear transformation based on differential flatness...
This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bézier curves and the calculated velocity profiles on individual segments are minimum-time with contin...
When a mobile robot inspects tasks with complex requirements indoors, the traditional backstepping method cannot guarantee the accuracy of the trajectory, leading to problems such as the instrument not being inside the image and focus failure when th...
This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to r...
Trajectory planning and avoidance of tipping are the main keys to success in the mobile dual-arm manipulation, especially when the dual-arm or moving platform is running fast. The forces and moments between wheel-terrain and body-arm have been analyz...
Wireless Sensor Networks (WSNs) are usually troubled with constrained energy and complicated network topology which can be mitigated by introducing a mobile agent node. Due to the numerous nodes present especially in large scale networks, it is time-...
Trajectory tracking remains one of the main challenges in mobile robotics, particularly when robots operate under real-world disturbances and modeling uncertainties. Model Predictive Control (MPC) has become one of the most effective solutions for th...
In recent years, a novel skid-steered duct-cleaning mobile platform was developed to remove dust accumulated on the inner surface of an air-ventilation duct with its rolling brushes. During the cleaning process, the irregular brushing pressure acting...
Four-wheel, independently driven skid-steer mobile robots have been widely used in some fields, such as indoor product shipping and outdoor inspection and exploration. Traditional skid-steer mobile robot controllers often use a kinematics controller...
With the rapid development of cities, the geographic information of urban blocks is also changing rapidly. However, traditional methods of updating road data cannot keep up with this development because they require a high level of professional exper...
In this paper, a trajectory tracking control strategy for low-speed car-like mobile robots (CLMRs) based on an extended state observer (ESO) and backstepping control is proposed to address the issue of trajectory tracking accuracy degradation caused...
When natural disasters strike, users in the disaster area may be isolated and unable to transmit disaster information to the outside due to the damage of communication facilities. Unmanned aerial vehicles can be exploited as mobile edge servers to pr...
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. This pa...
This paper proposes a new trajectory tracking control scheme for the four mecanums wheel omnidirectional mobile robot (FM-OMR). Considering the influence of uncertainty on tracking accuracy, a self-organizing fuzzy neural network approximator (SOT1FN...
The ability to predict a person’s trajectory and recover a target person in the event the target moves out of the field of view of the robot’s camera is an important requirement for mobile robots designed to follow a specific person in the workspace....
In cooperative tasks, the ability to keep a kinematic relationship between the robots involved is essential. The main goal in this work is to design a synchronization control law for mobile manipulator robots (MMRs) considering a (2,0) differential m...
This paper studies the indoor localization based on Wi-Fi received signal strength indicator (RSSI). In addition to position estimation, this study examines the expansion of applications using Wi-Fi RSSI data sets in three areas: (i) feature extracti...
This paper presents an experimental comparison between model-based and model-free trajectory-tracking control strategies applied to an omnidirectional mobile robot platform. Classical model-based controllers, including Proportional-Integral-Derivativ...
This paper presents a multi-sensor fusion framework for the accurate indoor localization and trajectory tracking of a differential-drive mobile robot. The proposed system integrates Ultra-Wideband (UWB) trilateration, wheel odometry, and Attitude and...
This paper presents a unified framework for trajectory tracking and static obstacle avoidance of differential-drive mobile robots. A nominal exact-decoupling controller achieves pure exponential longitudinal convergence and globally avoids angular si...
Mobile robots conducting inspection tasks in coal-mine roadways and operating in complex underground environments are often subjected to demanding conditions such as low adhesion, uneven friction distribution, and localized slippery surfaces. These c...
The goal of this research is to formulate and compare two algorithms, classical particle swarm optimisation (PSO) and quantum PSO (QPSO), for optimising the motion of a car-like mobile robot. Both algorithms are evaluated on the basis of their reduct...
With the development of the Internet of Things (IoT) technology, massive amounts of sensor data in applications such as fire monitoring need to be transmitted to edge servers for timely processing. However, there is an energy-hole phenomenon in trans...
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