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Trajectory Tracking Control of Skid-Steering Mobile Robots with Slip and Skid Compensation using Sliding-Mode Control and Deep Learning
Payam Nourizadeh, Fiona J Stevens McFadden, Will N Browne
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into traje…
Teach and Repeat Navigation: A Robust Control Approach
Payam Nourizadeh, Michael Milford, Tobias Fischer
Robot navigation requires an autonomy pipeline that is robust to environmental changes and effective in varying conditions. Teach and Repeat (T&R) navigation has shown high perform…
Design and Implementation of a Fuzzy Adaptive Controller for Time-Varying Formation Leader-Follower Configuration of Nonholonomic Mobile Robots
Payam Nourizadeh, Aghil Yousefi-Koma, Moosa Ayati
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying for…