Title :
Parameter identification for an omni-directional mobile system with distributed mobile actuator module
Author :
Lee, Jae Hoon ; Kim, Bong Keun ; Tanikawa, Tamio ; Ohba, Kohtaro
Author_Institution :
Ubiquitous Functions Res. Group, Intell. Syst. Res. Inst., Tsukuba
Abstract :
For the realization of distributed mobile actuator module, a new parameter identification algorithm based on fusion of multiple velocity measurements is proposed. Omni-directional mobile system with multiple double-wheel-type casters is modeled as a system with kinematic sub-chains which provide multiple odometry information. The proposed method can identify the kinematic parameters of general mobile system with double-wheel-type casters through the fusion of multiple sensor information. Its performance is also evaluated by simulation and experiment.
Keywords :
actuators; distance measurement; mobile robots; robot kinematics; sensor fusion; velocity measurement; distributed mobile actuator module; double-wheel-type casters; kinematic sub-chains; odometry; omni-directional mobile system; parameter identification algorithm; sensor information fusion; velocity measurements; Algorithm design and analysis; Control systems; Intelligent actuators; Intelligent robots; Intelligent systems; Kinematics; Mobile robots; Parameter estimation; Roads; 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.2008.4648070
