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Implementation of an Embedded Omni-directional Mobile Robot with Active Caster Wheels

Title
Implementation of an Embedded Omni-directional Mobile Robot with Active Caster Wheels
Author
이병주
Issue Date
2007-10
Publisher
IEEE
Citation
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Page. 3911-3918
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.
URI
https://ieeexplore.ieee.org/document/4399567https://repository.hanyang.ac.kr/handle/20.500.11754/106990
ISBN
978-1-4244-0911-2
ISSN
2153-0858; 2153-0866
DOI
10.1109/IROS.2007.4399567
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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