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Although four-wheel steered mobile robots have less turning ability, compared to two-independent wheeled mobile robots, there is an advantage that they are fit for improvement in the movement speed. Note however that since the wheel slippage is increased due to its advantage, four-wheel steered mobile robots cannot apply a popular dead-reckoning method by using rotary encoders. This paper describes...
Most of conventional mobile robot control methods have controlled robots based on their positions that are measured by some kinds of position estimation methods. On the other hand, humans decide their behavior based on mainly visual information without their accurate positions usually. Image-based visual servoings (IBVS) seem to be human approaches in the viewpoint that they control robots based on...
Image-based control is one of robot control methods using a camera and it can control a robot indirectly by controlling only image information on an image plane without using the robot states. In this paper, an image-based trajectory tracking method is described for a mobile robot. Especially, a fuzzy controller is adopted to cope with time-varying robot speeds, which are usually assumed to be constant...
In this paper, we propose a formation method that can specify the position of each robot in a group. The robots are assumed to be heterogeneous and identified. Also assume that a formation is composed of some equilateral triangles. The method is verified through some simulations. When applying the method to a real robot system, it needs to obtain IDs and relative positions of the robots. We further...
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