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ICRA
2008
IEEE

Navigation of an omni-directional mobile robot with active caster wheels

8 years 9 months ago
Navigation of an omni-directional mobile robot with active caster wheels
—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.
Eui-Jung Jung, Ho Yul Lee, Jae Hoon Lee, Byung-Ju
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Eui-Jung Jung, Ho Yul Lee, Jae Hoon Lee, Byung-Ju Yi, Whee Kuk Kim, Shin'ichi Yuta
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