• Title/Summary/Keyword: Wheel mobile robot

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Searching Methods of Corresponding Points Robust to Rotational Error for LRF-based Scan-matching (LRF 기반의 스캔매칭을 위한 회전오차에 강인한 대응점 탐색 기법)

  • Jang, Eunseok;Cho, Hyunhak;Kim, Eun Kyeong;Kim, Sungshin
    • Journal of the Korean Institute of Intelligent Systems
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    • v.26 no.6
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    • pp.505-510
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    • 2016
  • This paper presents a searching method of corresponding points robust to rotational error for scan-matching used for SLAM(Simultaneous Localization and Mapping) in mobile robot. A differential driving mechanism is one of the most popular type for mobile robot. For driving curved path, this type controls the velocities of each two wheels independently. This case increases a wheel slip of the mobile robot more than the case of straight path driving. And this is the reason of a drifting problem. To handle this problem and improves the performance of scan-matching, this paper proposes a searching method of corresponding points using extraction of a closest point based on rotational radius of the mobile robot. To verify the proposed method, the experiment was conducted using LRF(Laser Range Finder). Then the proposed method is compared with an existing method, which is an existing method based on euclidian closest point. The result of our study reflects that the proposed method can improve the performance of searching corresponding points.

A Study on Development of a Reconfigurable Mobile Robot and Dead-Reckoning Using Extended Kalman Filter (가변구조형 주행로봇 개발 및 확장형 칼만필터를 이용한 추측 항법에 대한 연구)

  • Kang, Bong-Soo;Yeo, Gee-Hwan
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.33 no.5
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    • pp.455-462
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    • 2009
  • This paper presents design concepts of a reconfigurable mobile robot for both of indoor and outdoor applications. A linkage mechanism and wheel-in-motors give the proposed mobile robot various driving modes in maneuver and good adaptability to irregular surface. Since the mobile robot receives multiple sensor signals from odometers and an orientation sensor, states related to the position and the orientation of the mobile robot are optimally estimated by an extended Kalman filter. Simulations and experimental results show that the performance of dead reckoning on estimating the pose of a mobile robot can be improved remarkably by the optimal state observer.

A study on locomotion module of mobile robot for the blind guidance (맹인 안내용 mobile robot의 locomotion module에 관한 연구)

  • 김병수;신중섭;홍승홍
    • 제어로봇시스템학회:학술대회논문집
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    • 1986.10a
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    • pp.592-595
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    • 1986
  • This paper presents a mobile of robot (for the blind) commanded by written course route on MAP. Its locomotion module is composed of PWM motor driving unit, wheel's rotation measurement unit and display and keyboard unit. In algorithm, "COMMAND" and "NEXT PREDICTED POSITION" for locomotion are computed from the MAP and the next position is compared with the measured one. Also, locomotion method for the convenience of the blind is discussed and experimentally demonstrated. In the experiment, the average speed of robot is 0.4m/sec and the computation error of the map is negligible.

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The development of mobile robot for hostile environment controlled by three motors (3개의 모터로 구동되는 극한작업용 이동로보트의 개발)

  • 권대갑;차영엽;염도성
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10a
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    • pp.704-709
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    • 1990
  • This study presents the structure and the gate control algorithm of KAMOBOT (KAIST Mobile Robot). The mobile robot has a six-legged, cylindrical configuration, each leg of which is equiped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around it's geometric center. Such maneuverability can be achieved by using only three electric motors.

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Kinematic Modeling of Mobile Robots by Transfer Method of Generalized Coordinates (좌표계 전환기법을 활용한 모바일 로봇의 기구학 모델링)

  • 김도형;김희국;이병주
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.44-44
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    • 2000
  • Firstly, kinematic model of various type of wheels which includesskidding and skidding friction are presented. Tend, the transfer method of generalized coordinates which is useful to model the parallel mechanisms, can be applied to mobile robot by including such friction terms. Particularly, by appling the modeling method to mobile robot consisting of two conventional wheels and one caster wheel, forword/reverse kinematic modeling could be obtained without using pseudoinverse solutions.

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Omni-directional Mobile Robot for 2D Translation and Rotation of a Puppet using Magnet (줄 인형의 2차원 이동 및 회전을 위한 자석기반 전 방향 로봇시스템)

  • Kim, Byeong-Yeol;Han, Young-Jun;Hahn, Hun-Soo
    • The Journal of Korea Robotics Society
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    • v.5 no.4
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    • pp.326-331
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    • 2010
  • Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.

Geometric Kinematics and Applications of a Mobile Robot

  • Kim, Dong-Sung;Kwon, Wook-Hyun;Park, Hong-Sung
    • International Journal of Control, Automation, and Systems
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    • v.1 no.3
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    • pp.376-384
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    • 2003
  • 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.

Design of Hybrid Magnet Wheels using 3D Finite Element Analysis for Wall-climbing Robot (벽면이동 로봇용 하이브리드 자석바퀴 3차원 유한요소해석 및 설계)

  • Han, Seung-Chul;Lee, Jae-Yong;Kim, Jin-Ho
    • Journal of the Society of Naval Architects of Korea
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    • v.47 no.1
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    • pp.88-92
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    • 2010
  • We propose a new design of the hybrid-magnet wheel to make it possible for a mobile robot to be attached to the vertical plane and be in motion. In the new suggested design, a permanent magnet is utilized to enhance the adhesive force, while an electromagnet is adopted to reduce the magnetic field and the adhesive force for detaching easily. To analysis the performance of the robot, 3 dimensional finite element analysis is executed using commercial electromagnetic analysis program, Maxwell. The results show that the adhesive force is reduced effectively by the electromagnet in the new designed robot system.

LMI-Based Fuzzy Control for Wheeled Mobile Robot (바퀴형 이동로봇의 LMI기반 퍼지 제어)

  • Choi, Hyun-Eui;Kim, Tae-Kue;Park, Seung-Kyu;Yoon, Tae-Sung
    • Proceedings of the KIEE Conference
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    • 2009.07a
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    • pp.1719_1720
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    • 2009
  • Wheeled mobile robot has different mobility and steerability which determined by type of wheel and it's arrangement. Generally wheeled mobile robot's dynamics are nonlinear and various control methods have studied to control the mobile robot efficiently. In this paper, a T-S fuzzy modeling of a 2-wheeled mobile robot is mand a stable LMI-based state feedback fuzzy controller is designed and applied to the position control of the mobile robot for the reference trajectory following. Also, the verification of the designed controller is done by computer simulation.

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Odometry and Navigation of an Omni-directional Mobile Robot with Active Caster Wheels (구동 캐스터 바퀴를 이용한 전방향 모바일 로봇의 오도메트리와 내비게이션)

  • Jung, Eui-Jung;Yi, Byung-Ju
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.10
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    • pp.1014-1020
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    • 2009
  • This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.