Navigation of an omni-directional mobile robot with active caster wheels

Eui Jung Jung, Yul Lee Ho, Jae Hoon Lee, Byung Ju Yi, Kuk Kim Whee, Shin'ichi Yuta

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
ページ1659-1665
ページ数7
DOI
出版物ステータスPublished - 2008
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
継続期間: 2008 5 192008 5 23

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷物)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
United States
Pasadena, CA
期間08/5/1908/5/23

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • これを引用

    Jung, E. J., Ho, Y. L., Lee, J. H., Yi, B. J., Whee, K. K., & Yuta, S. (2008). Navigation of an omni-directional mobile robot with active caster wheels. : 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 1659-1665). [4543439] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543439