Tracking Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer

Nobuhiro Ushimi; Motoji Yamamoto; Akira Mohri

doi:10.20965/jrm.2004.p0404

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JRM Vol.16 No.4 pp. 404-410

doi: 10.20965/jrm.2004.p0404

(2004)

Paper:

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Tracking Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer

Nobuhiro Ushimi, Motoji Yamamoto, and Akira Mohri

Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan

Received:

February 17, 2004

Accepted:

May 27, 2004

Published:

August 20, 2004

Keywords:

tracking control, omni-directional vehicle, two wheels caster type odometer, dead-reckoning

Abstract

This paper proposes a tracking control method for Omni-Directional Vehicles (ODVs) along desired trajectories using a new type of odometer, called a Two Wheels Caster Type (TWCT) odometer, specially designed for ODV dead-reckoning. Driving wheels of conventional ODVs slip easily. When an odometer is connected directly to a driving wheel shaft, such a slip causes large dead-reckoning error. The TWCT odometer we proposed is attached independently to the driving wheel of the ODV to avoid the influence of the slip. The TWCT odometer passively follows the omni-directional motion of the ODV. The current position and orientation of the ODV are estimated accurately by dead-reckoning from TWCT odometer measurement. The proposed control method uses the estimated current position and orientation that allow accurate tracking control of the ODV along a desired trajectory. Tracking control is improved by the TWCT odometer. Experimental results show effectiveness of the proposed control method using the TWCT odometer.

Cite this article as:

N. Ushimi, M. Yamamoto, and A. Mohri, “Tracking Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer,” J. Robot. Mechatron., Vol.16, No.4, pp. 404-410, 2004.

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References

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Betke, and L. Gurvits, “Mobile Robot Localization Using Landmarks,” IEEE Trans. on Robotics and Automation, Vol.13, No.2, pp. 251-263, 1997.

[2] [2] Y. Watanabe, and S. Yuta, “Position Estimation of Mobile Robots With Internal and External Sensors Using Uncertainty Evolution Technique,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2011-2016, 1990.

[3] [3] J. Borenstein, and L. Feng, “Measurement and Correction of Systematic Odometry Errors in Mobile Robots,” IEEE Trans. on Robotics and Automation, Vol.12, No.6, pp. 869-880, 1996.

[4] [4] F. G. Pin, and S. M. Killough, “A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots,” IEEE Trans. on Robotics and Automation, Vol.10, No.4, pp. 480-489, 1994.

[5] [5] H. Asama, M. Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, and I. Endo, “Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1925-1930, 1995.

[6] [6] M. West, and H. Asada, “Design and Control of Ball Wheel Omnidirectional Vehicles,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1931-1938, 1995.

[7] [7] K. Komoriya, K. Yokoi, and T. Kotoku, “Motion Control of Omnidirectional Mobile Manipulator for Indoor Environment,” in Proc. of the IEEE Int. Workshop on Robot and Human Interactive Communication, pp. 274-279, 2001.

[8] [8] X. Yang, K. Watanabe, K. Izumi, and K. Kiguchi, “An Upper Drive-Active Dual-Wheel Caster Assembly and Its Application to Constructing Holonomic and Omnidirectional Platform,” in Preprints of the 4th IFAC Symposium on Intelligent Autonomous Vehicles (IAV2001), pp. 442-447, 2001.

[9] [9] H. Kitagawa, T. Kobayashi, T. Beppu, and K. Terashima, “Semi-Autonomous Obstacle Avoidance of Omnidirectional Wheelchair by Joystick Impedance Control,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2148-2153, 2001.

[10] [10] M. J. Jung, H. S. Shim, H. S. Kim, and J. H. Kim, “The Miniature Omni-directional Mobile Robot OmniKity-I (OK-I),” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2686-2691, 1999.

[11] [11] M. Spenko, H. Yu, and S. Dubowsky, “Analysis and Design of an Omnidirectional Platform for Operation on Non-Ideal Floors,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 726-731, 2002.

[12] [12] Y. Mori, E. Nakano, T. Takahashi, and K. Takayama, “A Study on the Mechanism and Control of Omni-directional Vehicle,” in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 52-59, 1996.

[13] [13] M. Wada, and S. Mori, “Holonomic and Omnidirectional Vehicle with Conventional Tires,” in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3671-3676, 1996.