Control and odometry of an omnidirectional vehicle with multiple modular steerable drive wheels
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 9837616
- Paper/Info type
- AVEC
- Pages
- 1-6(Total 6 p)
- Date of publication
- Sep 1998
- Publisher
- Others, Unknown
- Language
- English
- Event
- AVEC '98
Detailed Information
| Author(E) | 1) M. Hashimoto, 2) T. Eguchi, 3) F. Oba |
|---|---|
| Affiliation(E) | 1) Hiroshima University, 2) Hiroshima University, 3) Hiroshima University |
| Abstract(J) | 独立に駆動できる二輪を並列に配置し,その二輪の回転数の差により操だするモジュールを複数備えた全方向移動車両を提案する.このモジュールを4個装備した車両について,車両の姿勢と走行経路の制御方法と個々のモジュールの走行距離から車両の現在位置を正確に計測する方法を考案し,シミュレーションを行いその有効性を確認した. Translation |
| Abstract(E) | This paper proposes an omnidirectional vehicle with multiple steerable drive wheels. The wheels are modularized on their mechanisms and controllers, so that we can tailor the vehicle to many transfer applications. A hierarchical control system composed of a vehicle level controller and the wheel module controllers enables the wheel modules to precisely execute omnidirectional motions of the vehicle by their coordination. An odometric dead-reckoning system, which fuses the redundant odometry information of the wheel modules in a decentralized manner, can identify the vehicle position reliably in the environment with fewer external landmarks. The simulation results of a vehicle with four wheel modules justify the proposed method. |
