scholarly journals Omnidirectional Mobile Robot - Design and Implementation

Author(s):  
Ioan Doroftei ◽  
Victor Grosu ◽  
Veaceslav Spinu
2021 ◽  
Author(s):  
Darci Luiz Tomasi Junior ◽  
Eduardo Todt

This article presents a study of the resources necessary to providemovement and localization in three wheeled omnidirectionalrobots, through the detailed presentation of the mathematical proceduresapplicable in the construction of the inverse kinematic model,the presentation of the main hardware and software componentsused for the construction of a functional prototype, and the testprocedure used to validate the assembly.The results demonstrate that the developed prototype is functional,as well as the developed kinematic equation, given the smallerror presented at the end of the validation procedure.


Author(s):  
Abdülkadir Çakir ◽  
Amal Ali Sreawi

A Between two line follower stand before the barrier mobile robot is a mobile machine that can detect and follow between two line drawn on the floor. Generally, the path can be white lines on a black surface or it can be black lines on a white surface. Today robot is very important in our life because it can do everything without human intervention, especially for difficult or danger works. Therefore in this research we will going to design robot that able to walk between two lines, and at the same time, this robot can pass the barriers that facing it. We conclude from this that this robot can help in many areas, such as to be a helper in hazardous work or in the transport of materials that are dangerous to human life, Or that this robot be helpful for people with disabilities where carts industry able to navigate seamlessly, also can use this robot in military actions.


2014 ◽  
Vol 19 (2) ◽  
pp. 467-476 ◽  
Author(s):  
Julio Cesar Lins Barreto S. ◽  
Andre Gustavo Scolari Conceicao ◽  
Carlos E. T. Dorea ◽  
Luciana Martinez ◽  
Edson Roberto de Pieri

ROBOT ◽  
2012 ◽  
Vol 34 (2) ◽  
pp. 144 ◽  
Author(s):  
Changlong YE ◽  
Huaiyong LI ◽  
Shugen MA ◽  
Huichao NI

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 48
Author(s):  
Mahmood Reza Azizi ◽  
Alireza Rastegarpanah ◽  
Rustam Stolkin

Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.


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