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Two-leveled obstacle avoidance scheme using a kinematically redundant omni-directional mobile robot
- Authors
- Jung, Eui jung; Kim, Sung mok; Yi, Byung ju; Kim, Whee kuk
- Issue Date
- Oct-2010
- Publisher
- IEEE
- Keywords
- Kinematic modeling; Omnidirectional mobile robot; Redundant manipulators; Obstacle avoidance; Redundancy; Odometry; Mobile robots; Intelligent robots; Robot programming; Motion planning; Quality assurance; Kinematic redundancy; Motion planning algorithms|
- Citation
- IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp 3949 - 3954
- Pages
- 6
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
- Start Page
- 3949
- End Page
- 3954
- ISSN
- 2153-0858
2153-0866
- Abstract
- This work presents the kinematic modeling and motion planning algorithm for an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees. Initially, the kinematic modeling of this robot is conducted. Next, using such a kinematic redundancy of each chain, several motion planning algorithms are suggested. 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 presented. The usefulness of the proposed algorithms is verified through simulation. ©2010 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)