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

fYear

2008

fDate

20-22 Aug. 2008

Firstpage

226

Lastpage

231

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/MFI.2008.4648069

Filename

4648069