NDLI: Feedback control of Omni-Directional Vehicles using two wheels caster type odometer

Content Provider	IEEE Xplore Digital Library
Author	Ushimi, N. Yamamoto, M. Mohri, A.
Copyright Year	2003
Description	Author affiliation: Fac. of Eng., Kyushu Univ., Fukuoka, Japan (Ushimi, N.; Yamamoto, M.; Mohri, A.)
Abstract	A feedback control method of Omni-Directional Vehicles (ODV) is proposed by using a caster type odometer. The odometer which is called the Two Wheels Caster Type Odometer (TWCTOdometer) is specially designed for ODVs. Driving wheels of typical ODVs are easy to slip. When an odometer is connected directly with the shafts of driving wheels, the slip of the driving wheels causes much dead-reckoning error. Thus the TWCTOdometer is attached independently to the driving wheels of the ODV in order to avoid the influence of slips of the driving wheels. The TWCTOdometer has a characteristic of passive omni-directional motion, which is to follow the omni-directional motion of the ODV. The ODV's current position and orientation are estimated accurately from the measurement values of the TWCTOdometer. The proposed control method uses the estimated current position and orientation that allow the accurate trajectory control of the ODV along desired trajectories. Experimental results show effectiveness of the proposed control method by using the TWCTOdometer.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found
Starting Page	3540
Ending Page	3545
File Size	505042
Page Count	6
File Format	PDF
ISBN	0780378601
DOI	10.1109/IROS.2003.1249704
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback control Vehicles Wheels Shafts Mobile robots Navigation Joining processes Automotive engineering Current measurement Position measurement
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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