전방향 이동로봇 위치제어 알고리즘과 실험적 검증Position Control Algorithm and Experimental Evaluation of an Omni-directional Mobile Robot
- Other Titles
- Position Control Algorithm and Experimental Evaluation of an Omni-directional Mobile Robot
- Authors
- 주백석; 조강익; 성영휘
- Issue Date
- 2015
- Publisher
- 한국생산제조학회
- Keywords
- Omni-directional mobile robot; Position control; Mecanum wheel; Ultrasonic sensor; Experimental evaluation
- Citation
- 한국생산제조학회지, v.24, no.2, pp.141 - 147
- Journal Title
- 한국생산제조학회지
- Volume
- 24
- Number
- 2
- Start Page
- 141
- End Page
- 147
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/1981
- DOI
- 10.7735/ksmte.2015.24.2.141
- ISSN
- 2508-5093
- Abstract
- In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.
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Collections - School of Mechanical System Engineering > 1. Journal Articles
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