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

Nobuhiro Ushimi, Kazuhiro Tsuruta, Motoji Yamamoto

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
ページ27-32
ページ数6
出版ステータス出版済み - 12月 1 2007
イベント13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics - Wurzburg, ドイツ
継続期間: 8月 29 20078月 31 2007

出版物シリーズ

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

その他

その他13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
国/地域ドイツ
CityWurzburg
Period8/29/078/31/07

!!!All Science Journal Classification (ASJC) codes

  • コンピュータ サイエンスの応用
  • コンピュータ ビジョンおよびパターン認識

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