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

Jae Hoon Lee, Shinichi Yuta, Eiji Koyanagi, Byung Ju Yi

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

16 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
Pages2714-2720
Number of pages7
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB
Duration: 2005 Aug 22005 Aug 6

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CityEdmonton, AB
Period05/8/205/8/6

Fingerprint

Motion control
Mobile robots
Trajectories
Command and control systems
Wheels
Kinematics
Navigation
Experiments
Robots
Controllers
Geometry

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

Cite this

Lee, J. H., Yuta, S., Koyanagi, E., & Yi, B. J. (2005). Command system and motion control for caster-type omni-directional mobile robot. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2714-2720). [1545386] https://doi.org/10.1109/IROS.2005.1545386

Command system and motion control for caster-type omni-directional mobile robot. / Lee, Jae Hoon; Yuta, Shinichi; Koyanagi, Eiji; Yi, Byung Ju.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 2714-2720 1545386.

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

Lee, JH, Yuta, S, Koyanagi, E & Yi, BJ 2005, Command system and motion control for caster-type omni-directional mobile robot. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545386, pp. 2714-2720, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, 05/8/2. https://doi.org/10.1109/IROS.2005.1545386
Lee JH, Yuta S, Koyanagi E, Yi BJ. Command system and motion control for caster-type omni-directional mobile robot. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 2714-2720. 1545386 https://doi.org/10.1109/IROS.2005.1545386
Lee, Jae Hoon ; Yuta, Shinichi ; Koyanagi, Eiji ; Yi, Byung Ju. / Command system and motion control for caster-type omni-directional mobile robot. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. pp. 2714-2720
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