Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor Terrain
- 10.2991/jrnal.2018.4.4.4How to use a DOI?
- Omnidirectional wheel, Indoor mobile robot, Kalman filter, Motion improvement
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.
- © 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/).
Cite this article
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 -