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

fYear

2008

fDate

20-22 Aug. 2008

Firstpage

232

Lastpage

237

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;

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.2008.4648070

Filename

4648070