Command system and motion control for caster-type omni-directional mobile robot

Jae Hoon Lee, Shin'ich Yuta, Eiji Koyanagi, Byung Ju Yi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

Despite that omni-directional mobile robots have been investigated and used popularly, there are rarely useful command systems and control methods for practical applications. In this research, a command system to describe the navigation task for an omni-directional mobile robot is developed, and a motion generation method considering the robot geometry and the given trajectory is proposed. Furthermore, a control method to track the given linear and circular trajectories is proposed. A closed form kinematic model was utilized for motion generation and control as well. A redundantly actuated omni-directional mobile robot that consists of three caster-type wheel mechanisms with high performance embedded controller module was developed for the experiments. And some experiments in the real environment were carried out to verify the effectiveness of the proposed command system and the performance of the motion generation and the trajectory control method.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages1862-1868
Number of pages7
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Command system
  • Motion generation
  • Omni-directional mobile robot
  • Trajectory control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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