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; Shin'ichi Yuta

doi:10.1109/ROBOT.2008.4543439

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, Shin'ichi Yuta

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 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 language	English
Title of host publication	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages	1659-1665
Number of pages	7
DOIs	https://doi.org/10.1109/ROBOT.2008.4543439
Publication status	Published - 2008 Sep 18
Event	2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: 2008 May 19 → 2008 May 23

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country	United States
City	Pasadena, CA
Period	08/5/19 → 08/5/23

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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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 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 1659-1665). [4543439] (Proceedings - IEEE International Conference on Robotics and Automation). 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, Shin'ichi.

2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 1659-1665 4543439 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543439, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1659-1665, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 08/5/19. https://doi.org/10.1109/ROBOT.2008.4543439

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