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

  • 제15권10호
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  • Pages.1014-1020
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  • 2009
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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구동 캐스터 바퀴를 이용한 전방향 모바일 로봇의 오도메트리와 내비게이션

Odometry and Navigation of an Omni-directional Mobile Robot with Active Caster Wheels

  • 정의정 (한양대학교 전자컴퓨터공학부) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • 발행 : 2009.10.01
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초록

This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

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참고문헌

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