Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain

Genya Ishigami, Elvine Pineda, Jim Overholt, Greg Hudas, Karl Iagnemma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain is presented. The omnidirectional robot has four active split offset caster (ASOC) modules, enabling the robot to move in any planar direction. It also possesses passive suspension articulation, allowing the robot to conform to uneven terrain. The agility of the robot is experimentally evaluated in various configurations. In addition, an odometry method that mitigates position estimation error due to wheel slippage is proposed. A key aspect of the proposed method is to utilize sensory data of wheel velocity, and turning rate around each ASOC pivot shaft, along with kinematic constraints of the robot configuration. Experimental odometry tests with different maneuvers in rough terrain are presented that confirm the utility of the proposed method.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages4091-4096
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 29
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Ishigami, G., Pineda, E., Overholt, J., Hudas, G., & Iagnemma, K. (2011). Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 4091-4096). [6048250] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048250