| Title: | GS3-1 Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor Terrain |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 607-612 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.GS3-1 |
| Author(s): | Amornphun Phunopas, Shinichi Inoue |
| Publication Date: | January 19, 2017 |
| Keywords: | Omnidirectional wheel, Indoor mobile robot, Kalman filter, Motion improvement |
| Abstract: | The four-wheeled omnidirectional platform is great to use for an indoor mobile robot. It can increasingly move and change heading directions. However, the robot is easy to slip when it is moving. One or more wheels are sometimes not touching the ground. This paper approaches to solving these problems by computational simulation in locomotion. The mathematical models simulate the robot movement. The robot struggles to go to the target with randomly simulated slips and untouched ground circumstances. The robot can estimate the positions using the Kalman filter and readjust itself to the planned path. Consequently, this paper demonstrates the motion improvement and compares the results of decreasing errors. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/GS_pdf/GS3/GS3-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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