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

Content Provider	IEEE Xplore Digital Library
Author	Ishigami, G. Pineda, E. Overholt, J. Hudas, G. Iagnemma, K.
Copyright Year	2011
Description	Author affiliation: U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC), Warren, MI 48397, USA (Overholt, J.; Hudas, G.) \|\| Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Sagamihara, 252-5210, JAPAN (Ishigami, G.) \|\| Laboratory for Manufacturing and Productivity, MIT, Cambridge, MA 02139 USA (Pineda, E.; Iagnemma, K.)
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.
Starting Page	4091
Ending Page	4096
File Size	1998654
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094585
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Mobile robots Robot kinematics Suspensions Kinematics Vehicles
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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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