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구동 캐스터 바퀴를 이용한 전방향 모바일 로봇의 오도메트리와 내비게이션Odometry and Navigation of an Omni-directional Mobile Robot with Active Caster Wheels
- Other Titles
- Odometry and Navigation of an Omni-directional Mobile Robot with Active Caster Wheels
- Issue Date
- Oct-2009
- Publisher
- 제어·로봇·시스템학회
- Keywords
- omni-directional; mobile robot; caster wheel; navigation
- Citation
- Journal of Institute of Control, Robotics and Systems, v.15, no.10, pp 1014 - 1020
- Pages
- 7
- Indexed
- SCOPUS
KCI
- Journal Title
- Journal of Institute of Control, Robotics and Systems
- Volume
- 15
- Number
- 10
- Start Page
- 1014
- End Page
- 1020
- ISSN
- 1976-5622
- 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.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)