The aim of this paper is to provide a global overview of mobile robot control and navigation
methodologies developed over the last decades. Mobile robots have been a substantial …

A bstract The omnidirectional drive is a popular challenging trend in today's mobile robotics
where different areas such as swarm, humanoid, legged, train-based, underwater, air flying …

This paper presents a reduced-order extended state observer (ESO) based sliding mode
control scheme for friction compensation of a three-wheeled omnidirectional mobile robot …

This paper presents a hand gesture based control of an omnidirectional wheelchair using
inertial measurement unit (IMU) and myoelectric units as wearable sensors. Seven common …

A dynamic model is presented for omnidirectional wheeled mobile robots, including
wheel/motion surface slip. We derive the dynamics model, experimentally measure friction …

In this paper, a nonlinear controller design for an omni-directional mobile robot is presented.
The robot controller consists of an outer-loop (kinematics) controller and an inner-loop …

This paper describes a computationally inexpensive, yet high performance trajectory
generation algorithm for omnidirectional vehicles. It is shown that the associated non-linear …

To maximize total operating time, an online minimum-energy translational and rotational
velocity trajectory planning and control system is presented on a straight-line path for three …

The design of cleaning and maintenance (CaM) robots is generally limited by their fixed
morphologies, resulting in limited functions and modes of operation. Contrary to fixed shape …

The control of mobile robots in an uncertain environment that is densely cluttered with
dynamic obstacles is an important problem in robotics. A fuzzy set theory is one of the …