Tracked mobile robots can overcome the limitations of wheeled and legged robots in environments, such as construction and mining, but there are still significant challenges to be addressed in terms of trajectory tracking. This study proposes a kinema...
Motion control of mobile robots in a cluttered environment with obstacles is an important problem. It is unsatisfactory to control a robot’s motion using traditional control algorithms in a complex environment in real time. Gaze tracking techno...
In the present work, based on an approximate modelling of a rover-type robot and a proportional control law, a simplified trajectory tracking strategy for a passive suspension rover-type mobile robot was developed. This strategy achieves trajectory t...
Mobile robots are widely used in many applications, while various types of mobile robots and their control researches have been proposed in literature. Since swarm robots have higher flexibility and capacity for teamwork, this paper presents a grey e...
With the application of tracked mobile robots in detection and rescue, how to improve their stability and trafficability has become the research focus. In order to improve the driving ability and trafficability of tracked mobile robots in rugged terr...
This research presents a nonlinear adaptive fuzzy control method as an analytical design and a simple control structure for the trajectory tracking problem in wheeled mobile robots with skew symmetrical property. For this trajectory tracking problem...
The paper discusses the state-of-the-art of locomotion systems for ground mobile robots comprising tracks. Tracked locomotion, due to the large contact surface with the ground, is particularly suitable for tackling soft, yielding, and irregular terra...
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...
Mobile robots have become increasingly important across various sectors and are now essential in agriculture due to their ability to navigate effectively and precisely in crop fields. Navigation involves the integration of several technologies, inclu...
This study focuses on the features of transport (locomotion) systems of mobile mini-robots (MMR), i.e., small unmanned ground vehicles of a portable type measuring several tens of centimeters and weighing no more than 15 kg. A distinctive feature of...
The tracking problem (that is, how to follow a previously memorized path) is one of the most important problems in mobile robots. Several methods can be formulated depending on the way the robot state is related to the path. “Trajectory trackin...
This paper addresses the problem of relative position-based formation planning for a leader–follower multi-robot setup, where the robots adjust the formation parameters, such as size and three-dimensional orientation, to avoid collisions and pr...
Decontamination robots are becoming more common in environments where reducing human exposure to hazardous substances is essential, including healthcare settings, laboratories, and industrial cleanrooms. Designing terrain-capable decontamination robo...
In this article, the current state of the art in the area of autonomously working and mobile robots used for inspections in deep underground mining and exploration is described, and directions for future development are highlighted. The increasing de...
The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolut...
Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and...
In this paper, a fuzzy neural network based predefined-time trajectory tracking control method is proposed for the tracking problem of omnidirectional mobile robots (FM-OMR) with uncertainties. Considering the requirement of tracking error convergenc...
Orchard mobile robots (OMR) represent a critical research focus in the field of modern intelligent agricultural equipment, offering the potential to significantly enhance operational efficiency through the integration of path planning and tracking co...
In this paper, we develop a hybrid iterative learning controller (HILC) for a non-holonomic wheeled mobile platform to achieve trajectory tracking with actual complex constraints, such as physical constraints, uncertain parameters, and initial errors...
Railway infrastructures necessitate the inspection of various elements to ensure operational safety. This study concentrates on five key components: rail, sleepers and ballast, track geometry, and catenary. The operational principles of the primary d...
Mobile manipulator robots have an increasing number of applications in industry because they extend the workspace of a fixed base manipulator mounted on a mobile platform, making it important to further investigate their control and optimization. Thi...
Computer vision based indoor localization methods use either an infrastructure of static cameras to track mobile entities (e.g., people, robots) or cameras attached to the mobile entities. Methods in the first category employ object tracking, while t...
Chaos dynamics is an interesting nonlinear effect that can be observed in many chemical, electrical, and mechanical systems. The chaos phenomenon has many applications in various branches of engineering. On the other hand, the control of mobile robot...
A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assist...
A closed-form H2 approach of a nonlinear trajectory tracking design and practical implementation of a swarm of wheeled mobile robots (WMRs) is presented in this paper. For the nonlinear trajectory tracking problem of a swarm of WMRs, the design purpo...
In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller i...
Wheeled mobile robots (WMRs) have been a focus of research for several decades, particularly concerning navigation strategies in static and dynamic environments. This review article carefully examines the extensive academic efforts spanning several d...
This study proposes a nonlinear adaptive optimal control method, the adaptive H2 control method, applied to the trajectory tracking problem of the wheeled mobile robot (WMR) with four-wheel mecanum wheels. From the perspective of solving mathematical...
Explosive ordnance disposal (EOD) operations are hazardous due to the volatile and sensitive nature of these devices. EOD robots have improved these tasks, but their high cost limits accessibility for security institutions that do not have sufficient...
This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing system...
Intelligent mobile robots need to deal with different kinds of uncertainties in order to perform their tasks, such as tracking predefined paths and avoiding static and dynamic obstacles until reaching their destination. In this research, a Robotino&r...
In this study, the first goal is achieving a hybrid approach composed by an Interval Type-3 Fuzzy Logic System (IT3FLS) for the dynamic adaptation of α and
Exoskeletons can track the wearer’s movements in real time, thereby enhancing physical performance or restoring mobility for individuals with gait impairments. These wearable assistive devices have demonstrated significant potential in both reh...
Visual-inertial simultaneous localization and mapping (VI-SLAM) is popular research topic in robotics. Because of its advantages in terms of robustness, VI-SLAM enjoys wide applications in the field of localization and mapping, including in mobile ro...
A proposed architecture to design the optimal parameters of Membership Functions (MFs) of Type-1 Fuzzy Logic Systems (T1FLSs) using the Chicken Search Optimization (CSO) is applied to three Fuzzy Logic Controllers (FLCs) in this paper. Two types of M...
Laser vision seam tracking enhances robotic welding by enabling external information acquisition, thus improving the overall intelligence of the welding process. However, camera images captured during welding often suffer from distortion due to stron...
This paper presents a novel robust output feedback control that simultaneously performs both stabilization and trajectory tracking for a class of underactuated nonholonomic systems despite model uncertainties, external disturbance, and the absence of...
This paper addresses the problems of valve-turning operation in rescue environments where a wheeled mobile manipulator (WMM) is employed, including the possible occurrence of large internal forces. Rather than attempting to obtain the exact position...
Autonomous navigation in mining environments is challenged by complex wheel–terrain interaction, traction losses caused by slip dynamics, and sensor limitations. This paper investigates the effectiveness of Deep Reinforcement Learning (DRL) tec...
By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems c...
This paper presents a novel extended state observer (ESO) approach for a class of plants with nonlinear dynamics. The proposed observer estimates both the state variables and the total disturbance, which includes both exogenous and endogenous disturb...
With the rapid development of Artificial Intelligence, AI-enabled Uncrewed Aerial Vehicles have garnered extensive attention since they offer an accessible and cost-effective solution for executing tasks in unknown or complex environments. However, d...
Systems for determining the position of objects inside buildings have a wide range of applications, such as the surveillance of people’s movements in hospitals, and of goods or mobile robots in warehouse spaces or production halls. Hence, there...