Title :
Kinematic Analysis and Motion Planning for a Planar Multiarticulated Omnidirectional Mobile Robot
Author :
Eui-Jung Jung ; Byung-Ju Yi ; Wheekuk Kim
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
In this paper, kinematic modeling and singularity analysis are performed for an omnidirectional mobile robot. At the beginning, generalized formulas of the mobility and the first-order kinematics for a planar multiarticulated omnidirectional mobile robot are proposed. To verify the proposed formulas, a mobile robot that consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees is introduced. Initially, the kinematic modeling and dynamic analysis, and odometry calculation for this robot are conducted. Next, singularity analysis of the proposed robot is performed. Then, using such a kinematic redundancy of each chain, motion planning algorithms that exploit the kinematic redundancy of the wheel chain are suggested. For navigation, a localization algorithm of the mobile robot based on odometry is presented, and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is proposed. The usefulness of the proposed algorithms is verified through experimentation.
Keywords :
collision avoidance; mobile robots; robot dynamics; dynamic analysis; first-order kinematics; generalized formulas; kinematic modeling; kinematic redundancy; leveled obstacle avoidance scheme; localization algorithm; motion planning algorithms; odometry; operational degrees; planar multiarticulated omnidirectional mobile robot; singularity analysis; wheel chain; Joints; Kinematics; Manganese; Mobile robots; Redundancy; Wheels; Kinematic redundancy; and singularity analysis; obstacle avoidance; omnidirectional mobile robot;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2015.2416153