• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.4
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• pp.149-155
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• 2016

This paper presents a control method of a mecanum wheel-based omni-directional electric board using driver weight shift. Instead of a steering device such as a joystick or a remote controller, 3 degree-of-freedom driving command for translational and rotational motion of the omni-directional electric board is generated from position of center of gravity measured from weight distribution. The weight shifting motion is not only a driving command but also an intuitive motion to overcome inertial forces. The overall control structure is presented with experimental results to prove validity of the proposed method.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.518-524
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• 2011

This paper presents a study on the calibration of accelerometer data in the gyroscope free inertial navigation system(GFINS) using fuzzy inference system(FIS). The conventional INS(inertial navigation system) which can measure yaw rate and linear velocity using inertial sensors as the gyroscope and accelerometer. However, the INS is difficult to design as small size and low power because it uses the gyroscope. To solve the problem, the GFINS which does not have the gyroscope have been studied actively. However, the GFINS has cumulative error problem still. Hence, this paper proposes Fuzzy-GFINS which can calibrate the data of an accelerometer using FIS consists of two inputs that are ratio between linear velocity of the autonomous ground vehicle(AGV) and the accelerometer and ratio between linear velocity of the encoders and the accelerometer. To evaluate the proposed Fuzzy-GFINS, we made the AGV with Mecanum wheels and applied the proposed Fuzzy-GFINS. In experimental result, we verified that the proposed method can calibrate effectively data of the accelerometer in the GFINS.