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Position estimation and motion control of omni-directional mobile robot with active caster wheels

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3 Author(s)
Jin, C.H. ; Intell. Robot Lab., Univ. of Tsukuba, Tsukuba ; Yuta, S. ; Lee, J.H.

The authors have been developing a omni-directional mobile robot with three active caster wheels. Position estimation with sensory systems of a mobile robot is fundamental function for autonomous navigation. The position tracking with odometry and position-based control algorithm for our omni-directional mobile robot are reported in this paper. Control architecture for this omni-directional mobile robot is also designed. The effectiveness of the proposed position estimation and motion control method was verified through experiments.

Published in:

Multisensor Fusion and Integration for Intelligent Systems, 2008. MFI 2008. IEEE International Conference on

Date of Conference:

20-22 Aug. 2008