Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Azimuth Tracking Control of an Omni-Directional Mobile Robot(ODMR) Using a Magnetic Compass

마그네틱 콤파스 기반의 전 방향 로봇의 방위각 제어

  • 이정형 (충남대학교 BK21 메카트로닉스그룹) ;
  • 정슬 (충남대학교 BK21 메카트로닉스그룹)
  • Published : 2009.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, control of an omni-directional mobile robot is presented. Relying on encoder measurements to define the azimuth angle yields the dead-reckoned situation which the robot fails in localization. The azimuth angle error due to dead-reckoning is compensated and corrected by the magnetic compass sensor. Noise from the magnetic compass sensor has been filtered out. Kinematics and dynamics of the omni-directional mobile robot are derived based on the global coordinates and used for simulation studies. Experimental studies are also conducted to show the correction by the magnetic compass sensor.

Keywords

References

  1. O. Diege, A. Badve, G Bright, J. Potgieter, and S. Tlale, "Improved Mecanum Wheel Design for Omni-direction Robots," Australasian Conference on Robotics and Automation, pp.1l7-121.Nov.2002
  2. F. Ribeiro, I. Moutinho, P. Silva, C. Fraga, and N. Pereira, "Controlling Omni-directional Wheels of a MSL RoboCup Autonomous Mobile Robot," ROBOTICA, 2004
  3. C.-C. Wong, S.-A. Li, and H.-Y. Wang, "Description of TKUITRl Team for Middle-Size League of RoboCup 2006"
  4. M. Ashmore and N. Barnes, "Omni-drive robot motion on curved paths: The Fastest Path between Two Points is not a straight-Line," 15th Australian Joint Conference on Artificial Intelligence, pp. 225-236, 2002
  5. K. Watanabe, "Control of an Omni Directional Mobile Robot," International Conference on Knowledge-Based Intelligent Electronic Systems, pp. 51-60, 1998