Navigation of an omni-directional mobile robot with active caster wheels

Eui Jung Jung, Yul Lee Ho, Jae Hoon Lee, Byung Ju Yi, Kuk Kim Whee, Shinichi Yuta

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

4 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1659-1665
Number of pages7
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA
Duration: 2008 May 192008 May 23

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CityPasadena, CA
Period08/5/1908/5/23

Fingerprint

Mobile robots
Wheels
Navigation
Motion planning
Redundancy
Kinematics
Sensors
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Jung, E. J., Ho, Y. L., Lee, J. H., Yi, B. J., Whee, K. K., & Yuta, S. (2008). Navigation of an omni-directional mobile robot with active caster wheels. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1659-1665). [4543439] https://doi.org/10.1109/ROBOT.2008.4543439

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 proceedingConference contribution

Jung, EJ, Ho, YL, Lee, JH, Yi, BJ, Whee, KK & Yuta, S 2008, Navigation of an omni-directional mobile robot with active caster wheels. in Proceedings - IEEE International Conference on Robotics and Automation., 4543439, pp. 1659-1665, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, 08/5/19. https://doi.org/10.1109/ROBOT.2008.4543439
Jung EJ, Ho YL, Lee JH, Yi BJ, Whee KK, Yuta S. Navigation of an omni-directional mobile robot with active caster wheels. In Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 1659-1665. 4543439 https://doi.org/10.1109/ROBOT.2008.4543439
Jung, Eui Jung ; Ho, Yul Lee ; Lee, Jae Hoon ; Yi, Byung Ju ; Whee, Kuk Kim ; Yuta, Shinichi. / Navigation of an omni-directional mobile robot with active caster wheels. Proceedings - IEEE International Conference on Robotics and Automation. 2008. pp. 1659-1665
@inproceedings{5e9d306af117473cab508b25a5f6c687,
title = "Navigation of an omni-directional mobile robot with active caster wheels",
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.",
author = "Jung, {Eui Jung} and Ho, {Yul Lee} and Lee, {Jae Hoon} and Yi, {Byung Ju} and Whee, {Kuk Kim} and Shinichi Yuta",
year = "2008",
doi = "10.1109/ROBOT.2008.4543439",
language = "English",
isbn = "9781424416479",
pages = "1659--1665",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

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 -