Title :
Position estimation and motion control of omni-directional mobile robot with active caster wheels
Author :
Jin, Chang Ro ; Yuta, Shin Ichi ; Lee, Jae Roon
Author_Institution :
Intell. Robot Lab., Univ. of Tsukuba, Tsukuba
Abstract :
The authors have been developing a omni-directional mobile robot with three active caster wheels. Position estimation with sensory systems of a mobile robot is fundamental function for autonomous navigation. The position tracking with odometry and position-based control algorithm for our omni-directional mobile robot are reported in this paper. Control architecture for this omni-directional mobile robot is also designed. The effectiveness of the proposed position estimation and motion control method was verified through experiments.
Keywords :
control system synthesis; mobile robots; motion control; navigation; position control; active caster wheels; autonomous navigation; control architecture design; motion control; odometry; omni-directional mobile robot; position estimation; position tracking; position-based control algorithm; sensory systems; Algorithm design and analysis; Intelligent robots; Intelligent sensors; Intelligent systems; Kinematics; Mobile robots; Motion control; Motion estimation; Navigation; Wheels;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 2008. MFI 2008. IEEE International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-2143-5
Electronic_ISBN :
978-1-4244-2144-2
DOI :
10.1109/MFI.2008.4648069
