Mecanum-wheel vehicle systems based on position corrective control

Akira Shimada, Souichiroh Yajima, Pakpoom Viboonchaicheep, Kyoko Samura

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

20 Citations (Scopus)

Abstract

This paper introduces a position corrective feedback control method using a vision sensor on Mecanum-wheel omni-directional vehicles. Recently, this omnidirectional vehicle has been developed, and it is sometimes employed in wheelchairs. We believe that by exploiting its unique features, it can be more widely employed as a vehicle robot. The control system is based on unique kinematics under holonomic constraints. A CCD camera, which is a part of the vision sensor system, is suspended from the ceiling of the lab housing the moving vehicle. The vision system is used to correct the vehicle position. The position data of the vehicle is calculated using the visual data. Further, the position of the vehicle is corrected smoothly by continuously entering the data into the position feedback loop. This paper describes the structure of the control system and a position correction feedback method. Further, experimental results obtained from the evaluation of this method are presented.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2077-2082
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC
Duration: 2005 Nov 62005 Nov 10

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CityRaleigh, NC
Period05/11/605/11/10

Fingerprint

Vehicle wheels
Position control
Feedback
Control systems
Wheelchairs
Sensors
Ceilings
CCD cameras
Feedback control
Wheels
Kinematics
Robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Shimada, A., Yajima, S., Viboonchaicheep, P., & Samura, K. (2005). Mecanum-wheel vehicle systems based on position corrective control. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2005, pp. 2077-2082). [1569224] https://doi.org/10.1109/IECON.2005.1569224

Mecanum-wheel vehicle systems based on position corrective control. / Shimada, Akira; Yajima, Souichiroh; Viboonchaicheep, Pakpoom; Samura, Kyoko.

IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. p. 2077-2082 1569224.

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

Shimada, A, Yajima, S, Viboonchaicheep, P & Samura, K 2005, Mecanum-wheel vehicle systems based on position corrective control. in IECON Proceedings (Industrial Electronics Conference). vol. 2005, 1569224, pp. 2077-2082, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, 05/11/6. https://doi.org/10.1109/IECON.2005.1569224
Shimada A, Yajima S, Viboonchaicheep P, Samura K. Mecanum-wheel vehicle systems based on position corrective control. In IECON Proceedings (Industrial Electronics Conference). Vol. 2005. 2005. p. 2077-2082. 1569224 https://doi.org/10.1109/IECON.2005.1569224
Shimada, Akira ; Yajima, Souichiroh ; Viboonchaicheep, Pakpoom ; Samura, Kyoko. / Mecanum-wheel vehicle systems based on position corrective control. IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. pp. 2077-2082
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