Implementation of an Embedded Omni-directional Mobile Robot with Active Caster Wheels
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jung, Eui-Jung | - |
dc.contributor.author | Chung, Jae Heon | - |
dc.contributor.author | Lee, Jae Hoon | - |
dc.contributor.author | Yi, Byung-Ju | - |
dc.contributor.author | Kim, Whee Kuk | - |
dc.date.accessioned | 2021-06-23T19:04:57Z | - |
dc.date.available | 2021-06-23T19:04:57Z | - |
dc.date.created | 2021-02-18 | - |
dc.date.issued | 2007-10 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/43374 | - |
dc.description.abstract | This work deals with a motion planning algorithm of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control, which has been identified through experimental experiences, is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. This is due to mismatching between the command and the mechanical hardware. To cope with this problem, a motion planning algorithm pursuing the natural configuration of the mobile wheel was mainly investigated, which resolves the skidding problem and uncertain motions of the steering wheel. Through simulations and experimentation, the feasibility of this algorithm was verified. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Implementation of an Embedded Omni-directional Mobile Robot with Active Caster Wheels | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Yi, Byung-Ju | - |
dc.identifier.doi | 10.1109/IROS.2007.4399567 | - |
dc.identifier.scopusid | 2-s2.0-51349122532 | - |
dc.identifier.wosid | 000254073202165 | - |
dc.identifier.bibliographicCitation | IEEE/RSJ Int. Conference on Robot and Systems, pp.3911 - 3918 | - |
dc.relation.isPartOf | IEEE/RSJ Int. Conference on Robot and Systems | - |
dc.citation.title | IEEE/RSJ Int. Conference on Robot and Systems | - |
dc.citation.startPage | 3911 | - |
dc.citation.endPage | 3918 | - |
dc.type.rims | ART | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/4399567 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
55 Hanyangdeahak-ro, Sangnok-gu, Ansan, Gyeonggi-do, 15588, Korea+82-31-400-4269 sweetbrain@hanyang.ac.kr
COPYRIGHT © 2021 HANYANG UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.