한국군사과학기술학회지 (Journal of the Korea Institute of Military Science and Technology)

  • 제22권3호
  • /
  • Pages.401-407
  • /
  • 2019
  • /
  • 1598-9127(pISSN)
  • /
  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
권호 표지
DOI QR코드

DOI QR Code

메카넘 휠 이동로봇의 바퀴 슬립을 고려한 위치 추정 연구

A Study of Position Estimation Considering Wheel Slip of Mecanum Wheeled Mobile Robot

  • Oh, Injin (Department of Mechanical Engineering, Yonsei University) ;
  • Kwon, Gunwoo (Department of Mechanical Engineering, Yonsei University) ;
  • Yang, Hyunseok (Department of Mechanical Engineering, Yonsei University)
  • 투고 : 2018.12.28
  • 심사 : 2019.05.24
  • 발행 : 2019.06.05
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, the position estimation considering wheel slip of mecanum wheeled mobile robots is discussed. Since the mecanum wheeled mobile robot does not need a space to rotate, it is very suitable in narrow industrial fields. However, the slip caused by the roller attached to the wheel makes it difficult to estimate the position precisely. Due to these limitations, mecanum wheels are rarely applied to unmanned mobile robots in automation factories. In this paper, a method to compensate the orientation and distance error caused by the slip is proposed. The exact orientation is measured by fusing gyro and magnetometer sensor data with application of Kalman filter. In addition, the kinematic model accounting slip effects will be defined to compensate the distance error.

키워드

GSGGBW_2019_v22n3_401_f0001.png 이미지

Fig. 1. Mecanum wheel

GSGGBW_2019_v22n3_401_f0002.png 이미지

Fig. 2. Driving principles of robot with mecanum wheel

GSGGBW_2019_v22n3_401_f0003.png 이미지

Fig. 3. The orientation estimation kalman filter algorithm

GSGGBW_2019_v22n3_401_f0004.png 이미지

Fig. 4. The velocity estimation kalman filter algorithm

GSGGBW_2019_v22n3_401_f0005.png 이미지

Fig. 5. Simulation results(Direction : Side)

GSGGBW_2019_v22n3_401_f0006.png 이미지

Fig. 6. Simulation results(Direction : Straight)

GSGGBW_2019_v22n3_401_f0007.png 이미지

Fig. 7. Simulation results(Direction : Diagonal)

Table 1. Simulation results

GSGGBW_2019_v22n3_401_t0001.png 이미지

참고문헌

  1. Adascalitei, Florentina, and Ioan Doroftei, "Practical Applications for Mobile Robots based on Mecanum Wheels-A Systematic Survey," The Romanian Review Precision Mechanics, Optics and Mechatronics 40 : pp. 21-29, 2011.
  2. Kumra, Sulabh, Rajat Saxena, and Shilpa Mehta, "Navigation System for Omni-directional Automatic Guided Vehicle with Mecanum Wheel," IOSR Journal of Electrical and Electronics Engineering(IOSRJEEE) ISSN 2278.1676 : pp. 35-39, 2012.
  3. Kim, Jungmin, et al., "Inertial Navigation System for an Automatic Guided Vehicle with Mecanum Wheels," International Journal of Precision Engineering and Manufacturing 13.3 : pp. 379-386, 2012. https://doi.org/10.1007/s12541-012-0048-9
  4. Nagatani, Keiji, et al., "Improvement of Odometry for Omnidirectional Vehicle using Optical Flow Information," Intelligent Robots and Systems, 2000 (IROS 2000). Proceedings, 2000 IEEE/RSJ International Conference on. Vol. 1, IEEE, 2000.
  5. Lee, In Seong, et al., "Kalman Filter-based Sensor Fusion for Improving Localization of AGV," Advanced Materials Research, Vol. 488, Trans Tech Publications, 2012.
  6. Kuo, Chung-Hsien, "Trajectory and Heading Tracking of a Mecanum Wheeled Robot using Fuzzy Logic Control," Instrumentation, Control and Automation (ICA), 2016 International Conference on. IEEE, 2016.
  7. Chu, Baeksuk, "Position Compensation Algorithm for Omnidirectional Mobile Robots and its Experimental Evaluation," International Journal of Precision Engineering and Manufacturing 18.12 : pp. 1755-1762, 2017. https://doi.org/10.1007/s12541-017-0204-3
  8. Roehrig, Christof, et al., "Global Localization and Position Tracking of Automatic Guided Vehicles using Passive RFID Technology," ISR/Robotik 2014; 41st International Symposium on Robotics; Proceedings of. VDE, 2014.
  9. Taheri, Hamid, Bing Qiao, and Nurallah Ghaeminezhad, "Kinematic Model of a Four Mecanum Wheeled Mobile Robot," International Journal of Computer Applications 113.3, 2015.
  10. Gracia, Luis, and Josep Tornero, "Kinematic Modeling of Wheeled Mobile Robots with Slip," Advanced Robotics 21.11 : pp. 1253-1279, 2007. https://doi.org/10.1163/156855307781503763
  11. Han, Kyung-Lyong, Hyosin Kim, and Jin S. Lee, "The Sources of Position Errors of Omni-Directional Mobile Robot with Mecanum Wheel," Systems Man and Cybernetics(SMC), 2010 IEEE International Conference on. IEEE, 2010.