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Parameter identification for an omni-directional mobile system with distributed mobile actuator module

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4 Author(s)
Jae Hoon Lee ; Ubiquitous Functions Res. Group, Intell. Syst. Res. Inst., Tsukuba ; Bong Keun Kim ; Tanikawa, T. ; Ohba, K.

For the realization of distributed mobile actuator module, a new parameter identification algorithm based on fusion of multiple velocity measurements is proposed. Omni-directional mobile system with multiple double-wheel-type casters is modeled as a system with kinematic sub-chains which provide multiple odometry information. The proposed method can identify the kinematic parameters of general mobile system with double-wheel-type casters through the fusion of multiple sensor information. Its performance is also evaluated by simulation and experiment.

Published in:

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

Date of Conference:

20-22 Aug. 2008