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http://dx.doi.org/10.14372/IEMEK.2017.12.4.213

Driving Control of an Omniwheel a Polishing Robot Using Beacon System and Encoder  

Song, Jun-Woo (Pusan National University)
Choi, Byeong-Chan (Pusan National University)
Kim, Tae-Eon (Pusan National University)
Sreenivasan, Sreejith Manalipadam (Pusan National University)
Lee, Jang-Myung (Pusan National University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.12, no.4, 2017 , pp. 213-221 More about this Journal
Abstract
Utilizing the existing polishing robot prevents unrestricted change of direction, driving, and identification of driving pathway. To overcome this barrier, driving mechaism has been designed with Omniwheels with encoders and RSSI method of beacon system has been utilized to identify the driving path by position recognition. Due to the wheel characteristics, the Omniwheel mobile robot generates greater slip than the conventional mobile robot, which reduces its driving accuracy. Therefore, to improve the driving accuracy, the localization is conducted through the fusion of encoder and RSSI of beacon data to compensate for the errors caused by Dead Reckoning and inaccuracy of sensors. Finally, the localization accuracies of the proposed and conventional indoor localization method are compared to show effectiveness of the proposed driving control for a polishing robot.
Keywords
Omniwheel; Driving control; Beacon; Localization; Dead reckoning;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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