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

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

doi:10.1109/MFI.2008.4648069

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

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

電気工学科

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	https://doi.org/10.1109/MFI.2008.4648069
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月 20 → 2008 8月 22

Conference

Conference	2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI
国/地域	Korea, Republic of
City	Seoul
Period	08/8/20 → 08/8/22

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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10.1109/MFI.2008.4648069

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引用スタイル

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AB - 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.

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

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Conference

ASJC Scopus subject areas

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