Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2009.15.2.132

Azimuth Tracking Control of an Omni-Directional Mobile Robot(ODMR) Using a Magnetic Compass  

Lee, Jeong-Hyeong (충남대학교 BK21 메카트로닉스그룹)
Jung, Seul (충남대학교 BK21 메카트로닉스그룹)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.2, 2009 , pp. 132-138 More about this Journal
Abstract
In this paper, control of an omni-directional mobile robot is presented. Relying on encoder measurements to define the azimuth angle yields the dead-reckoned situation which the robot fails in localization. The azimuth angle error due to dead-reckoning is compensated and corrected by the magnetic compass sensor. Noise from the magnetic compass sensor has been filtered out. Kinematics and dynamics of the omni-directional mobile robot are derived based on the global coordinates and used for simulation studies. Experimental studies are also conducted to show the correction by the magnetic compass sensor.
Keywords
azimuth tracking; global frame; magnetic compass; omni-directional mobile robot; robot frame;
Citations & Related Records
연도 인용수 순위
  • Reference
1 O. Diege, A. Badve, G Bright, J. Potgieter, and S. Tlale, "Improved Mecanum Wheel Design for Omni-direction Robots," Australasian Conference on Robotics and Automation, pp.1l7-121.Nov.2002
2 F. Ribeiro, I. Moutinho, P. Silva, C. Fraga, and N. Pereira, "Controlling Omni-directional Wheels of a MSL RoboCup Autonomous Mobile Robot," ROBOTICA, 2004
3 C.-C. Wong, S.-A. Li, and H.-Y. Wang, "Description of TKUITRl Team for Middle-Size League of RoboCup 2006"
4 M. Ashmore and N. Barnes, "Omni-drive robot motion on curved paths: The Fastest Path between Two Points is not a straight-Line," 15th Australian Joint Conference on Artificial Intelligence, pp. 225-236, 2002
5 K. Watanabe, "Control of an Omni Directional Mobile Robot," International Conference on Knowledge-Based Intelligent Electronic Systems, pp. 51-60, 1998