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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.