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

22 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 2005
Subtitle of host publication31st Annual Conference of IEEE Industrial Electronics Society
Pages2077-2082
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2005

Conference

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Shimada, A., Yajima, S., Viboonchaicheep, P., & Samura, K. (2005). Mecanum-wheel vehicle systems based on position corrective control. In IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society (pp. 2077-2082). [1569224] (IECON Proceedings (Industrial Electronics Conference); Vol. 2005). https://doi.org/10.1109/IECON.2005.1569224