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This paper develops methodologies and techniques for control architecture design, path tracking laws and posture estimation of a vision-based wheeled mobile robot (WMR). To solve the problem of position/orientation tracking control of the WMR, two kinematical predictive control laws are developed to manipulate the vehicle to asymptotically follow the desired trajectories. A Kalman filtering scheme...
Important advances have been made in the last period in the robotic domain. Mobile robots are in an accentuated development. The navigation of the mobile robots requires solutions for the following problems: the establishment of the current position, the motion planning and the avoidance of obstacles. This paper approaches the problem of indoor navigation of a wheeled mobile robot. The X80 robot from...
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