Configuration and readhesion control for a mobile robot withexternal sensors
Umeda, Y.
Yakoh, T.
Dept. of Electr. Eng., Keio Univ., Yokohama;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 2002
Volume: 49,
Issue: 1
On page(s): 241-247
ISSN: 0278-0046
References Cited: 7
CODEN: ITIED6
INSPEC Accession Number: 7177982
Digital Object Identifier: 10.1109/41.982268
Current Version Published: 2002-08-07
Abstract
Since a wheeled mobile robot is subject to nonholonomic
constraints, the position and the configuration of the robot cannot be
derived directly from only the rotation angle of its wheels. In other
words, the position and the configuration of a mobile robot cannot be
calculated correctly if its wheels skid. For the purpose of the position
estimation of a mobile robot, some external sensors are used, in
general. This paper uses position information from a position-sensitive
detector camera that is a high-speed visual sensor to correct the errors
that are due to skid and so on. Also, we estimate a skid of wheels by
using its visual information. In this paper, the authors propose a
control system that enables control of both the configuration of the
robot and the skid of wheels simultaneously by including these estimated
values in the control loop of a mobile manipulator
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