Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor Terrain

DOI

10.2991/jrnal.2018.4.4.4How to use a DOI?

Keywords

Omnidirectional wheel, Indoor mobile robot, Kalman filter, Motion improvement

Abstract

The four-wheeled omnidirectional platform is great to use for an indoor mobile robot. It can increasingly move and change heading directions. However, the robot is easy to slip when it is moving. One or more wheels are sometimes not touching the ground. This paper approaches to solving these problems by computational simulation in locomotion. The mathematical models simulate the robot movement. The robot struggles to go to the target with randomly simulated slips and untouched ground circumstances. The robot can estimate the positions using the Kalman filter and readjust itself to the planned path. Consequently, this paper demonstrates the motion improvement and compares the results of decreasing errors.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Amornphun Phunopas
AU  - Shinichi Inoue
PY  - 2018
DA  - 2018/03/31
TI  - Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor Terrain
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 275
EP  - 282
VL  - 4
IS  - 4
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2018.4.4.4
DO  - 10.2991/jrnal.2018.4.4.4
ID  - Phunopas2018
ER  -