Browse > Article

Geometric Kinematics and Applications of a Mobile Robot  

Kim, Dong-Sung (School of Electrical and Computer Engineering, Cornell University)
Kwon, Wook-Hyun (School of Electrical and Computer Engineering, Seoul National University)
Park, Hong-Sung (Department of Electrical and Computer Engineering, Kangwon National University)
Publication Information
International Journal of Control, Automation, and Systems / v.1, no.3, 2003 , pp. 376-384 More about this Journal
Abstract
In this paper, the simple geometric kinematics of a three-wheeled holonomic mobile robot is proposed. Wheel architecture is developed for the holonomic mobile platform in order to provide omni-directional motions by three individually driven and steered wheels. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot can be achieved through a combination of the proposed basic motion trajectories. The proposed method is verified through computer simulations and the developed mobile robot.
Keywords
Geometric kinematics; three-wheeled mobile robot; basic motion trajectory;
Citations & Related Records

Times Cited By SCOPUS : 3
연도 인용수 순위
1 Motion feasibility of a wheeled vehicle with a steering angle limit /
[ Y. Wang;J. W. Roberts ] / Robotica   ScienceOn
2 On the kinematics of wheeled mobile robots /
[ J. C. Alexander;J. H. Maddocks ] / Autonomous Robot Vehicles
3 Kinematic modeling of wheeled mobile robots /
[ P. F. Muir;Neumann ] / Journal of Robotics Systems
4 /
[ P. J. McKerrow ] / Introduction to Robotics
5 Design and traveling experiment of an omnidirectional holonomic mobile robot /
[ J. Tang;K. Watanabe;Y. Shiraishi ] / Proc. of the 1996 lEEE/RSJ International Conference on Intelligent Robots and systems
6 A new family of omnidirectional and holonomic wheeled platforms for mobile robots /
[ F. G. Pin;S. M. Killough ] / IEEE Trans. on Robotics and Automation   ScienceOn
7 Autonomous mobile robots /
[ H. P. Moravec ] / CMU Robotics Institute Technical Report CMU-RI-TR-86-4
8 Three degrees for a mobile robot /
[ H. P. Moravec ] / Proc. of the ASME Conference on Computers in Engineering
9 Geometric kinematics modeling of omnidirectional autonomous mobile robot and its application /
[ D. S. Kim;H. C. Lee;W. H. Kwon ] / IEEE International Conference on Robotics and Automation
10 Local path control for an autonomous vehicle /
[ W. L. Nelson;I. J. Cox ] / Proc. of IEEE International Conference on Robotics and Automation
11 /
[ J. Y. Wong ] / Theory of Ground Vehicles
12 An automatic guidance system of an autonomous vehicle the trajectory generation and the control algorithm /
[ S. S. Lee;J. H. Williams;P. J. Rayment ] / Robotica
13 Mobile robot trajectory planning with dynamic and kinematics constraints /
[ V. Munoz;A. Simon ] / Proc. of IEEE International Conference on Robotics and Automatio'n
14 Minimum energy control of omni-Directional mobile robot navigation /
[ E. H. Lee;Y. T. Hyun;H. C. Lee;S.Y. Yoon ] / Proc. on Asian Control Conference
15 Two dimensional wheeled vehicle kinematics /
[ R. Balakrishna;A. Ghosal ] / IEEE Trans. on Robotics and Automation   ScienceOn
16 A real time detection algorithm for direction error in omnidirectional image sensors for mobile robots /
[ D. S. Kim;Y. S. Kim;W. H. Kwon ] / IEEE International Conference Robotics and Automation
17 Wheel rolling constraints and slip in mobile robots - simulation results /
[ S. Shekhar ] / Proc. on American Control Conference
18 Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism /
[ K. S. Byun;S. J. Kim;J. B. Song ] / IEEE International Conference on Robotics and Automation
19 /
[ Y. Kanayama ] / IEEE International Conference on Robotics and Automation
20 Adaptive mobile robot navigation and mapping /
[ H. Jacob;S. Feder;J. J. Leonard;C. M. Smith ] / Journal of Robotics Research
21 Trajectory generation and driving algorithm of indigenous omnidirectional autonomous mobile robot /
[ H. C. Lee;S. W. Ha;D. S. Kim;S. Y. Yoon ] / Proc. on JTC-CSCC