This paper proposes a new type of two wheels caster type odometer to estimate the current position and orientation of omni-directional vehicles. The proposed odometer is composed of two passive wheels and one passive rotational axis. The two wheels rotate independently, and the rotational axis changes odometer's orientation as an omni-directional vehicle moves. Angular velocities of the two wheels and rotational axis are measured by three rotary encoders using a gear train. A mechanism of the gear train is proposed to prevent the encoder from being entangled with itself. Using measured values of the three encoders, the current velocity vector of an omni-directional vehicle is calculated by kinematics of the odometer. Using the velocity vector, the current position and orientation of the omni-directional vehicle are estimated by dead-reckoning. Results of localization experiments by the developed odometer are shown.
|Number of pages||6|
|Publication status||Published - 2003|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering