Browse > Article
http://dx.doi.org/10.5370/KIEE.2018.67.3.440

A Study on an Omni-directional Mobile Robot for Moving a Double-parked Car  

Yoon, Kyung Su (Top Engineering Co.)
Lee, Myung Sub (School of Electronic Engineering, Kumoh National Institute of Technology)
Sung, Yount Whee (School of Electronic Engineering, Kumoh National Institute of Technology)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.67, no.3, 2018 , pp. 440-447 More about this Journal
Abstract
Double parking is very common in a parking lot where there is not sufficient parking space. When we double-park a car, we leave transmission gear in neutral position and release the emergency brake so that the double-parked car can be moved just by pushing it. However, moving a double-parked car by pushing is very hard and dangerous especially for the old and the weak. So, we propose an omni-directional mobile robot for moving a double-parked car easily and safely. The developed omni-directional mobile robot moves a double-parked car by rotating a wheel of a double-parked car. It has two specially designed rollers to rotate a wheel of a double-parked car and is designed so that the height of the robot is very low to be able to enter beneath a double-parked car. It can move a double-parked car safely by detecting obstacles in the way with five ultrasonic sensors. We verified by several experiments that the developed omni-directional mobile robot can be used to move a double-parked car easily and safely.
Keywords
Omni-directional mobile robot; Mecanum wheel; Moving a double-parked car; Obstacle avoidance; Ultrasonic sensors;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Pakpoom Viboonchaicheep, Akira Shimada, "Position Rectification Control for Mecanum Wheeled Omnidirectional Vehicles," IECON'03, pp. 854-859, 2003
2 Baeksuk Chu, Gangik Cho, Young Whee Sung, "Position Control Algorithm and Experimental Evaluation of an Omni-directional Mobile Robot", Journal of Korean Society of Manufacturing Technology Engineers, Vol. 24, No. 2, pp.141-147, 2015.   DOI
3 Christian Buhler, Ralf Hoelper, Helmut Hoyer, Wolfram Humann, "Autonomous robot technology for advanced wheelchair and robotic aids for people with disabilities," Robotics and Autonomous Systems, 14 (1995), pp. 213-222   DOI
4 B.S. Lee, H. S. Yang, "Design of pole climbing robot with mecanum wheel," Journal of the Korean Society for Precision Engineering, pp. 323-324, 2010.
5 J.J. Kim, H. S. Kim, Y. H. Kim, S. Y. Jung, "Design of a stair cleaning robot using mecanum wheels," ICROS 2013, pp. 441-442, 2013.
6 YunHimchan, HwangJeonguk, YoonHeesang, ParkTaehyeong, KimGonu, "Auto-Parking System of Omni-directional Robot Using Fuzzy Control," CICS'13, pp. 26-27, 2013.
7 Y. J. Choi, B. K. Kim, T. Y. Do, J. R. Yoo, "Intention Reading for Operation of a Motorized Skateboard with Mecanum Wheels," ICROS 2013, pp. 110-111, 2013.
8 A Cheong, MWS Lau, E Foo, J Hedley, Ju Wen Bo, "Development of a Robotic Waiter System," IFAC-PapersOnLine, Volume 49, Issue 21, pp. 681-686, 2016
9 Dong-Hyuk Jeong, Jong-Han Park, Jin-Il Park, Yong-Tae Kim, "A study on Omni-directional mobile robot for freight transportation," CICS '12, pp. 137-138, 2012.
10 Tianran Peng, Jun Qian, Bin Zi, Jiakui Liu, Xingwei Wang, "Mechanical Desing and Control System of and Omin-directional Mobile Robot for Material Converying," 9th International Conf. on Digital Enterprise Technology, pp. 412-415, 2016
11 Muir, P. F., Neuman, C. P., "Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot", In Proceedings of IEEE International Conference on Robotics and Automation, pp. 1172-1178, 1987.