Kinematic Analysis and Motion Planning for a Planar Multiarticulated Omnidirectional Mobile Robot
- Title
- Kinematic Analysis and Motion Planning for a Planar Multiarticulated Omnidirectional Mobile Robot
- Author
- 이병주
- Keywords
- Kinematic redundancy; obstacle avoidance; omnidirectional mobile robot; singularity analysis
- Issue Date
- 2015-12
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 20, No. 6, Page. 2983-2995
- Abstract
- In this paper, kinematic modeling and singularity analysis are performed for an omnidirectional mobile robot. At the beginning, generalized formulas of the mobility and the first-order kinematics for a planar multiarticulated omnidirectional mobile robot are proposed. To verify the proposed formulas, a mobile robot that consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees is introduced. Initially, the kinematic modeling and dynamic analysis, and odometry calculation for this robot are conducted. Next, singularity analysis of the proposed robot is performed. Then, using such a kinematic redundancy of each chain, motion planning algorithms that exploit the kinematic redundancy of the wheel chain are suggested. For navigation, a localization algorithm of the mobile robot based on odometry is presented, and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is proposed. The usefulness of the proposed algorithms is verified through experimentation.
- URI
- http://ieeexplore.ieee.org/abstract/document/7305890/http://hdl.handle.net/20.500.11754/46414
- ISSN
- 1083-4435; 1941-014X
- DOI
- 10.1109/TMECH.2015.2416153
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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