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Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain
Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Sagamihara, 252-5210, Japan.
MIT.
U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC), Warren, MI 48397, United States.
U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC), Warren, MI 48397, United States.
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2011 (English)In: Proceedings: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : September 25-30, 2011, San Francisco, California, USA, Piscataway, N.J.: IEEE Press, 2011, 4091-4096 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain is presented. The omnidirectional robot has four active split offset caster (ASOC) modules, enabling the robot to move in any planar direction. It also possesses passive suspension articulation, allowing the robot to conform to uneven terrain. The agility of the robot is experimentally evaluated in various configurations. In addition, an odometry method that mitigates position estimation error due to wheel slippage is proposed. A key aspect of the proposed method is to utilize sensory data of wheel velocity, and turning rate around each ASOC pivot shaft, along with kinematic constraints of the robot configuration. Experimental odometry tests with different maneuvers in rough terrain are presented that confirm the utility of the proposed method. © 2011 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2011. 4091-4096 p.
Keyword [en]
Kinematics, Mobile robots, Robot kinematics, Suspensions, Vehicles, Wheels, distance measurement, mobile robots, robot kinematics, suspensions (mechanical components), ASOC modules, ASOC pivot shaft, active split offset caster, kinematic constraints, odometry improvement, omnidirectional mobile robot, outdoor terrain, passive suspension articulation, position estimation error, robot configuration, rough terrain, wheel slippage
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20819DOI: 10.1109/IROS.2011.6094585ISI: 000297477504067Scopus ID: 2-s2.0-84455200675ISBN: 978-161284454-1 OAI: oai:DiVA.org:hh-20819DiVA: diva2:586714
Conference
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, USA, September 25-30, 2011
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-21Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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