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 |
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| Title of host publication | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 |
| Pages | 1659-1665 |
| Number of pages | 7 |
| DOIs | |
| 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 |
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| ISSN (Print) | 1050-4729 |
Other
| Other | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 |
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| Country | United States |
| City | Pasadena, CA |
| Period | 08/5/19 → 08/5/23 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic 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 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