Design of an omnidirectional mobile robot for rough terrain

2008 ◽  
Author(s):  
Martin Udengaard ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Omnidirectional Mobile Robot

scholarly journals Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Martin Udengaard ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Optimization Method ◽  
Contact Angles ◽  
Design Guidelines ◽  
Rough Terrain ◽  
Uneven Terrain ◽  
Omnidirectional Mobile Robot ◽  
Subsystem Design ◽  
And Control

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and control of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. The use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.

Development of a Holonomic Omni-Directional Mobile Robot with Step-Climbing Ability

2001 ◽  
Vol 13 (2) ◽  
pp. 160-167 ◽  
Author(s):  
Atsushi Yamashita ◽  
◽  
Tatsuya Kanazawa ◽  
Hajime Asama ◽  
Hayato Kaetsu ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Passive Suspension ◽  
Omnidirectional Mobile Robot ◽  
Climbing Ability ◽  
Step Climbing

In this paper, we purpose a new holonomic omnidirectional mobile robot that can pass over steps and rough terrain. A prototype of the omnidirectional mobile robot has seven wheels with free rollers. We adopt a passive suspension for the robot to climb slopes and to pass over steps without actuators and sensors for climbing and analyzed the kinematics of the omnidirectional robot. The performance of the prototype robot is shown through experiments.

Design, Development, and Mobility Evaluation of an Omnidirectional Mobile Robot for Rough Terrain

2014 ◽  
Vol 32 (6) ◽  
pp. 880-896 ◽  
Author(s):  
Genya Ishigami ◽  
Karl Iagnemma ◽  
Jim Overholt ◽  
Greg Hudas
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Design Development ◽  
Omnidirectional Mobile Robot

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization

Kinematics Study on an Omnidirectional Mobile Robot with MY Wheels

ROBOT ◽  
2012 ◽  
Vol 34 (2) ◽  
pp. 144 ◽  
Author(s):  
Changlong YE ◽  
Huaiyong LI ◽  
Shugen MA ◽  
Huichao NI
Keyword(s):  
Mobile Robot ◽  
Omnidirectional Mobile Robot

scholarly journals Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 48
Author(s):  
Mahmood Reza Azizi ◽  
Alireza Rastegarpanah ◽  
Rustam Stolkin
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Motion Control ◽  
Equations Of Motion ◽  
Dynamic Environments ◽  
Discrete State ◽  
Omnidirectional Mobile Robot ◽  
Planning And Control ◽  
Avoidance Strategy ◽  
And Performance

Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.

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