Title :
Navigation of an omni-directional mobile robot with active caster wheels
Author :
Jung, Eui-Jung ; Lee, Ho Yul ; LEE, Jae Hoon ; Yi, Byung-Ju ; Kim, Whee Kuk ; Yuta, Shinichi
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Seoul
Abstract :
This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.
Keywords :
distance measurement; mobile robots; navigation; path planning; active caster wheels; external sensor measurement; kinematic redundancy resolution method; motion planning algorithm; navigation; odometry information; omni-directional mobile robot; position accuracy; Computer science; Kinematics; Mobile robots; Motion planning; Navigation; Position measurement; Roads; Robotics and automation; USA Councils; Wheels;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543439
