Abstract
This work deals with motion planning algorithms of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control of such omni-directional mobile robot, which has been identified through experimental experiences, is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. To cope with this problem, a motion planning algorithm which resolves the skidding problem and uncertain motions of the steering wheel is mainly investigated. For navigation of the mobile robot, the posture of the omni-directional mobile robot is initially calculated using the odometry information. Then, the accuracy of the mobile robot’s odometry 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 simulations and experimentation, the feasibility of proposed algorithms was verified.
Similar content being viewed by others
References
Campion C, Batin G, D’Andrea-Novel B (1987) Structural properties and classification of kinematics and dynamics models of wheeled mobile robot. IEEE Trans Robot Autom 4(2): 281–340
Muir PF, Newman CP (1987) Kinematic modeling of wheeled mobile robot. J Robot Syst 4(2): 281–340
Saha SK, Angeles J (1989) Kinematic and dynamics of a three-wheeled 2-DOF AVG. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, pp 1572–1577
Chen P, Mitsutake S, Isoda T, Shi T (2002) Omni-directional robot and adaptive control method for off-road running. IEEE Trans Robot Autom 18(2): 251–256
Tadakuma K, Hirose S, Tadakuma R (2004) Development of VmaxCarrier2: omni-directional mobile robot with function of step-climbing. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp 3111–3118
Ziaie-Rad S et al (2005) A practical approach to control and self-localization of Persia omni directional mobile robot. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, pp 3473–3479
Salih JEM et al (2006) Designing omni-directional mobile robot with mecanum wheel. Am J Appl Sci 3(5): 1831–1835
Moore KL, Flann NS (2000) A six-wheeled omnidiretional autonomous mobile robot. IEEE Control Syst Mag 20(6): 53–66
Berkemeier MD, Ma L (2005) Discrete control for visual servoing the ODIS robot to parking lot lines. In: Proceedings of IEEE international conference on robotics and automation, pp 3149–3154
Yi B-J, Kim WK (2002) The kinematics for redundantly actuated omni-directional mobile robots. J Robot Syst 19(6): 255–267
Wada M, Takagi A, Mori S (2000) Caster drive mechanism for holonomic and omnidirectional mobile platforms with no over constraint. In: Proceedings of IEEE international conference on robotics and automation, pp 1531–1538
Ushimi N, Yamamoto M, Mohri A (2003) Two wheels caster type odometer for omni-directional vehicles. In: Proceedings of IEEE international conference on robotics and automation, pp 497–502
Lee JH, Yuta S, Koyanagi E, Yi B-J (2005) Command system and motion control for caster-type omni-directional mobile robot. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, pp 2714–2720
Park TB, Lee JH, Yi B-J, Kim WK, You B-J, Oh S-R (2002) Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots. In: Proceedings of IEEE international conference on robotics and automation, pp 732–737
Hirata Y, Koike Y, Zhao L, Kosuge K (2008) Development of omni-directional mobile base with servo brakes for passive dance partner robot. In: Proceedings of IEEE robotics and biomimetics, pp 676–681
Endo M et al (2009) Trajectory generation for multiple robots of a car transportation system distributed autonomous robotic systems. Springer, Berlin, pp 305–314
Zavlangas P et al (2000) Fuzzy Obstacle avoidance and navigation for omnidirectional mobile robots. ESIT 2000, Aachen, Germany, pp 375–382
Hunt KH (1990) Kinematic geometry of mechanisms. Clarendon Press, Oxford
Freeman RA, Tesar D (1988) Dynamic modeling of serial and parallel mechanisms/robotic systems. Part I—Methodology, Part II—Applications. 20th ASME biennial mechanism conference, Orlando, FL, pp 7–27
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Jung, Ej., Yi, BJ. & Kim, W.K. Motion planning algorithms of an omni-directional mobile robot with active caster wheels. Intel Serv Robotics 4, 167–180 (2011). https://doi.org/10.1007/s11370-011-0089-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11370-011-0089-4