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 被引用数 (Scopus)

抄録

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.

本文言語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
出版ステータスPublished - 2008
外部発表はい
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
継続期間: 2008 5月 192008 5月 23

出版物シリーズ

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

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
国/地域United States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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