D. P. Liyanage

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In this paper design and implementation of an accurate positioning system in indoor environments for an Omni directional Robot and a stereo vision based depth estimation system is discussed. The positioning system which is robust for wheel slip and jerky motion was implemented fusing odometry, Inertial Navigation System (INS) and magnetic compass based(More)
In this paper trajectory and orientation control is addressed for an Omni directional robot (ODR). Here ODR is modeled in a state space representation using its dynamics and the kinematics incorporating correction for motor imbalance problem. Then for that nonlinear state space, novel tracking based state feedback linearizing strategy is introduced so that(More)
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