By Topic

Omni-directional robot and adaptive control method for off-road running

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

4 Author(s)
Peng Chen ; Fac. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan ; Mitsutake, S. ; Isoda, T. ; Tielin Shi

This paper presents an off-road omni-directional mobile robot (OOMR) which can run on an uneven road and obstacles. The robot is constructed with four crawler-roller-motor units and can also be called a "roller-crawler type of omni-directional mobile robot." Each crawler-roller-motor unit can be driven independently and the motion of the robot can be controlled by the speed of each motor. We also designed a position and velocity control system for the robot. The robot can be automatically controlled to run in an optional direction and to track an orbit. We also show the adaptive control method for the OOMR. The efficiency of the mechanism and the control method has been verified by many practical running tests and computer simulations

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:18 ,  Issue: 2 )