Position estimation and motion control of omni-directional mobile robot with active caster wheels

Chang Ho Jin, Shinichi Yuta, Jae Hoon Lee

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

2 Citations (Scopus)

Abstract

The Authors have been developing a omni-directional mobile robot with three active caster wheels. Position estimation with sensory systems of a mobile robot is fundamental function for autonomous navigation. The position tracking with odometry and position-based control algorithm for our omni-directional mobile robot are reported in this paper. Control architecture for this omni-directional mobile robot is also designed. The effectiveness of the proposed position estimation and motion control method was verified through experiments.

Original languageEnglish
Title of host publicationIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Pages226-231
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI - Seoul
Duration: 2008 Aug 202008 Aug 22

Other

Other2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
CitySeoul
Period08/8/2008/8/22

Fingerprint

Motion control
Mobile robots
Wheels
Navigation
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

Cite this

Jin, C. H., Yuta, S., & Lee, J. H. (2008). Position estimation and motion control of omni-directional mobile robot with active caster wheels. In IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (pp. 226-231). [4648069] https://doi.org/10.1109/MFI.2008.4648069

Position estimation and motion control of omni-directional mobile robot with active caster wheels. / Jin, Chang Ho; Yuta, Shinichi; Lee, Jae Hoon.

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 2008. p. 226-231 4648069.

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

Jin, CH, Yuta, S & Lee, JH 2008, Position estimation and motion control of omni-directional mobile robot with active caster wheels. in IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems., 4648069, pp. 226-231, 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI, Seoul, 08/8/20. https://doi.org/10.1109/MFI.2008.4648069
Jin CH, Yuta S, Lee JH. Position estimation and motion control of omni-directional mobile robot with active caster wheels. In IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 2008. p. 226-231. 4648069 https://doi.org/10.1109/MFI.2008.4648069
Jin, Chang Ho ; Yuta, Shinichi ; Lee, Jae Hoon. / Position estimation and motion control of omni-directional mobile robot with active caster wheels. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 2008. pp. 226-231
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