A study of safety control for omni-directional mobile robots in consideration of driving wheel slips

Nobuhiro Ushimi, Kazuhiro Tsuruta, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper discusses a simulation of Omni-Directional Mobile Robots (ODMRs) in consideration of driving wheel slips. In mobile robot navigation, the use of ODMRs is expected in narrow and complicated indoor floors such as of-fices with human beings. The ODMR is requested to control safely without a obstacle collision in the navigation. The safety control of the ODMR needs to consider driving wheel slips, because special types of driving wheels used for many ODMRs easily slip. A Two Wheels Caster (TWCaster) is specially developed for the measurement of the ODMR driving wheel slip. A driving wheel slip model and tracking control of the ODMR are discussed in simulations. Simulation results show effectiveness of the proposed driving wheel slip model, compared with experiments.

Original languageEnglish
Title of host publicationProceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
Pages27-32
Number of pages6
Publication statusPublished - Dec 1 2007
Event13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics - Wurzburg, Germany
Duration: Aug 29 2007Aug 31 2007

Publication series

NameProceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics

Other

Other13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
CountryGermany
CityWurzburg
Period8/29/078/31/07

Fingerprint

Mobile robots
Wheels
Navigation
Experiments

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Computer Vision and Pattern Recognition

Cite this

Ushimi, N., Tsuruta, K., & Yamamoto, M. (2007). A study of safety control for omni-directional mobile robots in consideration of driving wheel slips. In Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics (pp. 27-32). (Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics).

A study of safety control for omni-directional mobile robots in consideration of driving wheel slips. / Ushimi, Nobuhiro; Tsuruta, Kazuhiro; Yamamoto, Motoji.

Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics. 2007. p. 27-32 (Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ushimi, N, Tsuruta, K & Yamamoto, M 2007, A study of safety control for omni-directional mobile robots in consideration of driving wheel slips. in Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics. Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics, pp. 27-32, 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics, Wurzburg, Germany, 8/29/07.
Ushimi N, Tsuruta K, Yamamoto M. A study of safety control for omni-directional mobile robots in consideration of driving wheel slips. In Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics. 2007. p. 27-32. (Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics).
Ushimi, Nobuhiro ; Tsuruta, Kazuhiro ; Yamamoto, Motoji. / A study of safety control for omni-directional mobile robots in consideration of driving wheel slips. Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics. 2007. pp. 27-32 (Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics).
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