By Topic

Hybrid navigation of a four-wheeled tour-guide robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Yuan-Pao Hsu ; Dept. of Comput. Sci. & Inf. Eng., Nat. Formosa Univ., Yunlin, Taiwan ; Ching-Chih Tsai ; Zeng-Chung Wang ; Yi-Jiang Feng
more authors

This paper develops methodologies and techniques for motion control and autonomous navigation of a tour-guide robot with a four-wheeled omni-directional mobile platform. A nonlinear unified kinematical control method is presented for point stabilization and trajectory tracking of a mobile robot which equipped with four independent driving omni-directional wheels equally spaced at 90 degrees between adjacent wheels. A hybrid navigation method is proposed to achieve safely autonomous navigation of the tour-guide robot; this approach includes two behaviors: one is the point-to-point trajectory tracking, and the other is the obstacle avoidance function using the traversability distance histogram (TDH) method to avoid barriers in museums. The effectiveness and merit of the proposed techniques are exemplified by conducting several experiments on an experimental four-wheeled omni-directional tour-guide robot.

Published in:

ICCAS-SICE, 2009

Date of Conference:

18-21 Aug. 2009