An Adaptive Mobile Robot with Gaussian type on Fuzzy Logic Type 2

This is an adaptive Mobile Robot Navigation project based on Fuzzy Logic Type 2. The goal of this study is to investigate the performance of a mobile robot in an environment (navigation). As a result, this project will be emphasized on the outcomes of simulation for the mobile robot in navigation. The background for the simulation will be based on the obstacle avoidance. In brief, when the fuzzy controller detects any potential obstacle nearer or on the way for the robot going to the goal point, the robot will be able to avoid it. In navigation, the surrounding environment for the robot and the position of the obstacle should be understood ahead of time. The robot is required to navigate to its destination by avoiding the obstacle. In such, the robot navigation in simulations can be estimated using prior information of the coordinates from the beginning point, the goal point, and the obstacle position. Thus, in this research, the cost function method was implemented to evaluate and estimate the robot's surroundings in a simulated environment. Consequently, the objective of the project is to design a mobile robot in navigation using the fuzzy logic system and to develop the lower state estimation error for both estimated and measured simulation value. By using the cost function and fuzzy logic, the mobile robot navigation was proved as the result shows that the robot was able to avoid the obstacle on its way toward the goal point. Furthermore, the graph shows only a slight difference occurred between the measured and estimated values, indicating that the project was implemented as required

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

In the last decades, mobile robotics has become a very interesting research topic in the feld of robotics, mainly because of population ageing and the recent pandemic emergency caused by Covid-19. Against this context, the paper presents an overview on wheeled mobile robot (WMR), which have a central role in nowadays scenario. In particular, the paper describes the most commonly adopted locomotion strategies, perception systems, control architectures and navigation approaches. After having analyzed the state of the art, this paper focuses on the kinematics of three omnidirectional platforms: a four mecanum wheels robot (4WD), a three omni wheel platform (3WD) and a two swerve-drive system (2SWD). Through a dimensionless approach, these three platforms are compared to understand how their mobility is afected by the wheel speed limitations that are present in every practical application. This original comparison has not been already presented by the literature and it can be used to improve our understanding of the kinematics of these mobile robots and to guide the selection of the most appropriate locomotion system according to the specifc application