Mecanum-wheel vehicle systems based on position corrective control

Akira Shimada, Souichiroh Yajima, Pakpoom Viboonchaicheep, Kyoko Samura

研究成果: Conference contribution

26 被引用数 (Scopus)

抄録

This paper introduces a position corrective feedback control method using a vision sensor on Mecanum-wheel omni-directional vehicles. Recently, this omnidirectional vehicle has been developed, and it is sometimes employed in wheelchairs. We believe that by exploiting its unique features, it can be more widely employed as a vehicle robot. The control system is based on unique kinematics under holonomic constraints. A CCD camera, which is a part of the vision sensor system, is suspended from the ceiling of the lab housing the moving vehicle. The vision system is used to correct the vehicle position. The position data of the vehicle is calculated using the visual data. Further, the position of the vehicle is corrected smoothly by continuously entering the data into the position feedback loop. This paper describes the structure of the control system and a position correction feedback method. Further, experimental results obtained from the evaluation of this method are presented.

本文言語English
ホスト出版物のタイトルIECON 2005
ホスト出版物のサブタイトル31st Annual Conference of IEEE Industrial Electronics Society
ページ2077-2082
ページ数6
DOI
出版ステータスPublished - 2005 12 1
外部発表はい
イベントIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
継続期間: 2005 11 62005 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2005

Conference

ConferenceIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
国/地域United States
CityRaleigh, NC
Period05/11/605/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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