Navigation of an Omni-directional Mobile Robot with Active Caster Wheels
- Title
- Navigation of an Omni-directional Mobile Robot with Active Caster Wheels
- Author
- 이병주
- Issue Date
- 2008-05
- Publisher
- IEEE
- Citation
- 2008 IEEE International Conference on Robotics and Automation, Page. 1659-1665
- 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.
- URI
- https://ieeexplore.ieee.org/document/4543439https://repository.hanyang.ac.kr/handle/20.500.11754/80296
- ISSN
- 1050-4729
- DOI
- 10.1109/ROBOT.2008.4543439
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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