Feedback Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer

Nobuhiro Ushimi, Motoji Yamamoto, Akira Mohri

研究成果: 著書/レポートタイプへの貢献会議での発言

2 引用 (Scopus)

抄録

A feedback control method of Omni-Directional Vehicles (ODV) is proposed by using a caster type odometer. The odometer which is called the Two Wheels Caster Type Odometer (TWCTOdometer) is specially designed for ODVs. Driving wheels of typical ODVs are easy to slip. When an odometer is connected directly with the shafts of driving wheels, the slip of the driving wheels causes much dead-reckoning error. Thus the TWCTOdometer is attached independently to the driving wheels of the ODV in order to avoid the influence of slips of the driving wheels. The TWCTOdometer has a characteristic of passive omni-directional motion, which is to follow the omni-directional motion of the ODV. The ODVs current position and orientation are estimated accurately from the measurement values of the TWCTOdometer. The proposed control method uses the estimated current position and orientation that allow the accurate trajectory control of the ODV along desired trajectories. Experimental results show effectiveness of the proposed control method by using the TWCTOdometer.

元の言語英語
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
ページ3540-3545
ページ数6
4
出版物ステータス出版済み - 2003
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, 米国
継続期間: 10 27 200310 31 2003

その他

その他2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
米国
Las Vegas, NV
期間10/27/0310/31/03

Fingerprint

Feedback control
Wheels
Trajectories

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

これを引用

Ushimi, N., Yamamoto, M., & Mohri, A. (2003). Feedback Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer. : IEEE International Conference on Intelligent Robots and Systems (巻 4, pp. 3540-3545)

Feedback Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer. / Ushimi, Nobuhiro; Yamamoto, Motoji; Mohri, Akira.

IEEE International Conference on Intelligent Robots and Systems. 巻 4 2003. p. 3540-3545.

研究成果: 著書/レポートタイプへの貢献会議での発言

Ushimi, N, Yamamoto, M & Mohri, A 2003, Feedback Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer. : IEEE International Conference on Intelligent Robots and Systems. 巻. 4, pp. 3540-3545, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 米国, 10/27/03.
Ushimi N, Yamamoto M, Mohri A. Feedback Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer. : IEEE International Conference on Intelligent Robots and Systems. 巻 4. 2003. p. 3540-3545
Ushimi, Nobuhiro ; Yamamoto, Motoji ; Mohri, Akira. / Feedback Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer. IEEE International Conference on Intelligent Robots and Systems. 巻 4 2003. pp. 3540-3545
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