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

Chang Ho Jin, Shin'ichi Yuta, Jae Hoon Lee

Research output: Contribution to conferencePaper

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
Pages226-231
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI - Seoul, Korea, Republic of
Duration: 2008 Aug 202008 Aug 22

Conference

Conference2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
CountryKorea, Republic of
CitySeoul
Period08/8/2008/8/22

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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