TY - GEN
T1 - A study of safety control for omni-directional mobile robots in consideration of driving wheel slips
AU - Ushimi, Nobuhiro
AU - Tsuruta, Kazuhiro
AU - Yamamoto, Motoji
PY - 2007/12/1
Y1 - 2007/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:56149090099
SN - 9780889866850
T3 - Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
SP - 27
EP - 32
BT - Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
T2 - 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
Y2 - 29 August 2007 through 31 August 2007
ER -