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Kinematic analysis and control of an omnidirectional mobile robot in rough terrain
Massachusetts Institute of Technology, 77 Massachusetts Ave, Cambridge, MA 02139, United States.
Massachusetts Institute of Technology, 77 Massachusetts Ave, Cambridge, MA 02139, United States.
2007 (English)In: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, Piscataway: IEEE Press, 2007, 795-800 p.Conference paper, Published paper (Refereed)
Abstract [en]

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of currentpose. To date, nearly all designs and analyses ofomnidirectional robots have considered the case of motion onflat, smooth terrain. This paper presents a kinematic analysisand control method for an omnidirectional mobile robot drivenby active split offset casters operating on rough, uneventerrain. Robot average isotropy is analyzed as a function ofwheel module geometry on both flat and rough terrain. Asimple kinematic control scheme that considers the effects ofterrain unevenness is presented. The performance of thealgorithm in rough terrain is studied in simulation. It is shownthat with knowledge of terrain conditions, nearomnidirectionalmobility is achievable in rough terrain.

Place, publisher, year, edition, pages
Piscataway: IEEE Press, 2007. 795-800 p.
Keyword [en]
Friction, Indoor environments, Intelligent robots, Kinematics, Mobile robots, Navigation, Tires, USA Councils, Vehicles, Wheels, Control system analysis, Motion control, Robot kinematics, Active split offset casters, Kinematic analysis, Motion control, Omnidirectional mobile robot control, Omnidirectional mobility, Robot average isotropy analysis, Terrain unevenness, Uneven terrain, Wheel module geometry, Omnidirectional vehicle, Isotropy, Rough terrain
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20817DOI: 10.1109/IROS.2007.4398996ISI: 000254073200126Scopus ID: 2-s2.0-51349116127ISBN: 1-4244-0912-8 ISBN: 978-1-4244-0912-9 OAI: oai:DiVA.org:hh-20817DiVA: diva2:586716
Conference
The 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-15Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf