TY - GEN
T1 - Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain
AU - Ishigami, Genya
AU - Pineda, Elvine
AU - Overholt, Jim
AU - Hudas, Greg
AU - Iagnemma, Karl
PY - 2011/12/29
Y1 - 2011/12/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455200675&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455200675&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048250
DO - 10.1109/IROS.2011.6048250
M3 - Conference contribution
AN - SCOPUS:84455200675
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4091
EP - 4096
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -