Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles

Pakpoom Viboonchaicheep, Akira Shimada, Yuhki Kosaka

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

49 Citations (Scopus)

Abstract

In recent years, an omni-directional vehicle system using Mecanum wheels has been developed and used in wheel-chairs. It should be more widely utilized as a kind of robot for intelligent wheelchairs or vehicle robots for hazards by making the best use of its unique features. This paper presents a position rectification method during position and orientation control with multi-sampling periods. The control system is based on unique kinematics, which are under holonomic constraints. The idea for the proposed rectification method consisting of symptomatic rectification and preventive rectification has been borrowed from medical science.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages854-859
Number of pages6
Volume1
DOIs
Publication statusPublished - 2003
Externally publishedYes
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA
Duration: 2003 Nov 22003 Nov 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
CityRoanoke, VA
Period03/11/203/11/6

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Keywords

  • Control
  • Mecanum
  • Omni-dimensional
  • Vehicle

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Viboonchaicheep, P., Shimada, A., & Kosaka, Y. (2003). Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 854-859) https://doi.org/10.1109/IECON.2003.1280094