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

Author

Jung, Eui-Jung ; Lee, Ho Yul ; LEE, Jae Hoon ; Yi, Byung-Ju ; Kim, Whee Kuk ; Yuta, Shinichi

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Seoul

fYear

2008

fDate

19-23 May 2008

Firstpage

1659

Lastpage

1665

Abstract

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.

Keywords

distance measurement; mobile robots; navigation; path planning; active caster wheels; external sensor measurement; kinematic redundancy resolution method; motion planning algorithm; navigation; odometry information; omni-directional mobile robot; position accuracy; Computer science; Kinematics; Mobile robots; Motion planning; Navigation; Position measurement; Roads; Robotics and automation; USA Councils; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Conference_Location

Pasadena, CA

ISSN

1050-4729

Print_ISBN

978-1-4244-1646-2

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2008.4543439

Filename

4543439