Developments and Challenges in Wheeled Mobile Robot Control
Mohamed A. Kamel, Youmin M. Zhang · Proceedings of International Conference on Intelligent Unmanned Systems · 2014
Wheeled Mobile robots (WMRs) are very popular because they are appropriate for applications with relatively low mechanical complexity and energy consumption. WMRs are used in many military and civilian applications. These applications include surveillance, transportation, inspection, exploration, and many other applications either in structured or unstructured environments. This paper provides a review on the developments of the wheeled mobile robots (WMRs) control. It reviews the kinematic and dynamic modeling of the robots, the path following and tracking, the avoiding obstacles control algorithms, and finally a review on robot vision and visual servoing control system is presented including the main challenges in each field of research.