Sankar Nath Shome

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In this endeavor, a hybrid control strategy has been proposed for composite path tracking control of a nonholonomic wheeled mobile robotic (WMR) system under parametric and nonparametric uncertainties. A WMR, often in practical circumstances, undergoes through various parametric changes. Moreover, modeling of WMR in presence of friction, slip or skid,(More)
These It is well known in the literature that wheeled mobile robot undergoes slip while moving through a flat surface, if certain conditions are violated. Slip is a very common phenomena present in all kind of wheeled mobile robotic system and particularly become prominent while taking a sharp bend on a flat ground. The degree of slip mainly depends on the(More)
This paper deals with the development of image occupancy grid map based on image matching by cross correlation method from laser range finder (LRF) data and goes on to develop an algorithm for robust pose estimation of a mobile robot in the static environment. Scan represents, here, a set of range measurements of the features transformed into a binary image(More)
In nature, several animals and insects use jumping locomotion in rough terrains. Jumping locomotion is useful for ground robots as jumping provide high speed movement with enhanced energy efficiency. It also helps in overcoming obstacles relatively larger than their body sizes. Jumping needs coordination and large instantaneous forces within a very short(More)
Present day mobile robots are meant for very precise applications. For very precise applications of mobile robots, accurate estimation of inertial parameters depends upon the accuracy of mathematical model & as well as accuracy (error characteristics) of the individual sensor measurements. Multiple sensors add redundancies to the system as well as it(More)
The paper presents an application of Interval method to solve the inverse kinematics of a serially connected redundant manipulator, aiming its use in design optimization of manipulators. The article attempts to solve inverse kinematics, when the lengths of the links of the manipulator are not precisely known. The sources of uncertainties include(More)
Present day mobile robots are meant for very precise applications. For very precise applications of mobile robots, accurate estimation of inertial parameters depends upon the accuracy of mathematical model & as well as accuracy (error characteristics) of the individual sensor measurements. Sensor measurements are prone to various errors, which(More)
The highly non-linear and coupled dynamics of Autonomous Underwater Vehicles (AUVs), added with modeling errors, parametric uncertainties and payload variations pose a major challenge towards autonomous control of AUVs for various application requirements. Environmental hazards such as ocean currents sometimes dominate and make the control of underwater(More)