Abstract
This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 1659-1665 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2008 |
| Externally published | Yes |
| Event | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA Duration: 2008 May 19 → 2008 May 23 |
Other
| Other | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 |
|---|---|
| City | Pasadena, CA |
| Period | 08/5/19 → 08/5/23 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Navigation of an omni-directional mobile robot with active caster wheels. / Jung, Eui Jung; Ho, Yul Lee; Lee, Jae Hoon; Yi, Byung Ju; Whee, Kuk Kim; Yuta, Shinichi.
Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 1659-1665 4543439.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Navigation of an omni-directional mobile robot with active caster wheels
AU - Jung, Eui Jung
AU - Ho, Yul Lee
AU - Lee, Jae Hoon
AU - Yi, Byung Ju
AU - Whee, Kuk Kim
AU - Yuta, Shinichi
PY - 2008
Y1 - 2008
N2 - This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.
AB - This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.
UR - http://www.scopus.com/inward/record.url?scp=51649088033&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649088033&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543439
DO - 10.1109/ROBOT.2008.4543439
M3 - Conference contribution
SN - 9781424416479
SP - 1659
EP - 1665
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -