• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.18 no.6
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• pp.664-674
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• 2009

This paper presents the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. Different experiments in populated environments have proved to be very successful. Our method is able to guide the mobile robot named KUM-Robo safety and efficiently during long experimental time.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.15-18
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• 2003

This paper presents an adaptive control scheme for parking or regulating a nonholonomic mobile robot of an unicycle type with parameter uncertainty. The kinematics can be described with Brockett's nonholonomic integrator. The control law is designed in cylindrical coordinates together with the estimation law for the uncertain parameters such that the controlled signals converge to zero while guaranteeing the boundedness of the estimation errors. The effectiveness of the proposed scheme is demonstrated using simulations.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.786-791
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• 2003

This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.