The main focus of the thesis is the autonomous motion of mobile robots, in particular those on wheels. Chapter 2 starts with a short introduction to planning activities. Planning is the main function of the navigator, which delivers the input to the guidance system. Chapter 3 discusses the modelling of wheeled mobile robots. Both the kinematics and dynamics are treated and are illustrated with examples of the two most used configurations: a differential-drive type robot (with two driven wheels) and a tricycle-type robot (with a steered and driven front wheel). Chapter 4 deals with the guidance system. The chapter starts with the subject of trajectory generation. The chapter ends with showing the controller's performance as obtained from experiments with the PAVLOV robot, including a wall-following example. Chapter 5 describes the localization problem. Three localization methods are described and investigated for their accuracies. Chapter 6 summarizes the contents of the thesis and presents the conclusions.


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    Autonomous motion on wheels

    Turennout, Peter | TIBKAT | 1994


    Chaotic Motion of Wheels

    STÉPÁN, G. | Taylor & Francis Verlag | 1991


    Chaotic motion of wheels

    Stepan,G. / Hungarian Academy of Science,Research Group of Mechanics,HU | Kraftfahrwesen | 1991


    Transient Chaotic Motion of Wheels

    Stepan, G. / Technical University of Budapest | British Library Conference Proceedings | 1992


    AUTONOMOUS DRIVING PLATFORM HAVING INDEPENDENT DRIVING WHEELS

    CHUNG SEUNG HYUN / LEE DO SUN / SONG HEE KWON et al. | Europäisches Patentamt | 2024

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