NDLI: Optimal path planning with holonomic mobile robot using localization vision sensors

Content Provider	IEEE Xplore Digital Library
Author	Lee, G.D.S. Kil Soo Lee Hyung Gyu Park Man Hyung Lee
Copyright Year	2010
Description	Author affiliation: School of Mechanical Engineering, Pusan National University, Pusan, Korea (Lee, G.D.S.; Kil Soo Lee; Hyung Gyu Park; Man Hyung Lee)
Abstract	Most of the present drive systems of the home service robots and the industrial robots use non-holonomic systems that function only when the robots are moving. For instance, the average vehicle can only be steered when driving so instant movement in all directions is not possible. And that is why the holonomic drive system is attracting attention. In this paper, we propose a holonomic system using three omni-direction wheels to enable instant movement in all directions. Also, IR-projector and vision sensors are proposed for autodrive robots to detect the robot's positioning. This system uses an infrared ray projector which processes the image reflected from the infrared reflector installed on the ceiling to detect the absolute position and direction angle of the robot in real time. Robot autodrive using vision sensors is also proposed.
Starting Page	1883
Ending Page	1886
File Size	766863
Page Count	4
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Non-holonomic Holonomic Navigation Robot kinematics Wheels Robot sensing systems Mobile robots Omni-direction-wheel and Path-planning Optimal navigation localization vision sensor
Content Type	Text
Resource Type	Article

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