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

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

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

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.

本文言語English
ページ226-231
ページ数6
DOI
出版ステータスPublished - 2008
イベント2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI - Seoul, Korea, Republic of
継続期間: 2008 8 202008 8 22

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用

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