Mathematical Modelling of Mobile Robot Motion with Propulsion Device of Discrete Interacting with the Support Surface

Optimal Leg Linkage Design for Horizontal Propel of a Walking Robot Using Non-Dominated Sorting Genetic Algorithm

“…Multi-Objective Optimization Problems (MOOP) and Pareto Dominance are fundamental concepts in the optimization field [56]. A Multi-Objective Optimization Problem (MOOP) can be formally described as:…”

Multi-Restricted Area Avoidance Scenario Using Hybrid Dynamical Model and Its Predictive Controller

“…The non-restricted sets are known as the normal area where the dynamics of the plant corresponds to (1). Alternatively, the dynamics which corresponds to the restricted set is defined as…”

“…Dynamical equation models, which comprise of the linear, complex, and hybrid dynamical system, play an important role in engineering the control systems. There are thousands of published research articles developed to analyze the dynamical model of some new engineering systems such as the mobile robot [1,2], autonomous vehicles [3], car-like robot [4], etc. This research deals with an independent system with some known initial state and its corresponding output value with plant's initial position.…”

On the Optimal Modes of Controlled Transfer of Walking Propulsion Devices

“…Various mathematical models are considered that describe the dynamics of controlled movement of broth multi-legged and bipedal robots [6][7][8][9][10][11]. For such robots, one of the important tasks is to determine the optimal models of movement [12,13]. It is obvious that mobile robots with walking propulsion devices are capable of overcoming obstacles without any physical contact with them and have prerequisite to obtain perfect maneuverability.…”