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In this paper, we deal with nonholonomic wheeled mobile robots (WMR) modeled as uncertain nonlinear systems. Sources of uncertainties can be due to erroneous estimation of mass, inertia, and center of gravity and due to payload time‐varying. They also can be considered as external disturbances generated from unstructured environments. We are proposing the use of a robust linear quadratic regulator...
The demand for monitoring from high points is increasing to support remote control and accurate monitoring. Unmanned ground vehicles with long arms are used to achieve long-term and accurate monitoring. The use of convex steel tapes is effective for achieving both high strength and lightness of the arm, which prevents the robot from collapsing or the arm from falling off. However, the previously proposed...
Motion planning is one of the fundamental problems in autonomous robotic navigation. However, usually the dynamic model of the robot is not considered on most of the basic motion planners, resulting in trajectories that may be difficult to be tracked by real robots. This paper describes the sampling-based Kino dynamic motion planning of a skid-steering mobile robot using the Rapidly-exploring Random...
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