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, Shin'ichi
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
AN - SCOPUS:51649088033
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1659
EP - 1665
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -