A Mathematical Model to Estimate the Position of Mobile Robot by Sensing Caster Wheel Motion

被引：1
作者：
Amarendra, Jnana H. [1 ]
Mathew, Robins [2 ]
Hiremath, Somashekhar S. [2 ]
机构：
[1] Malnad Coll Engn, Dept Elect & Commun Engn, Hassan 573201, India
[2] Indian Inst Technol, Dept Mech Engn, Madras 600036, Tamil Nadu, India
来源：
INTERNATIONAL CONFERENCE ON RESEARCH IN MECHANICAL ENGINEERING SCIENCES (RIMES 2017) | 2018年 / 144卷
关键词：
mobile robot; caster wheel; position estimation; kinematics; simulation;
D O I：
10.1051/matecconf/201814401011
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper describes the position estimation of mobile robot by sensing caster wheel motion. A mathematical model is developed to determine the position of mobile robot by sensing the angular velocity and heading angle of the caster wheel. Using the established equations, simulations were carried out using MATLAB version 8.6 to observe and verify the position coordinates of mobile robot and in turn obtain its trajectory. The simulation results show that the angular velocity of caster wheel and heading angle calculated from the sensor output readings with the help of inverse kinematics equations matches well with that of actual values given as input for simulation. Simulation result of tracking rectangular trajectory implies that the path traced by the mobile robot can also be determined from the sensor output readings. This concept can be implemented on a real mobile robot for estimation of its position.
引用
收藏
页数：10
相关论文
共 14 条
  • [1] Burgard W, 1998, 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3, P730, DOI 10.1109/IROS.1998.727279
  • [2] Chivarov Nayden, 2015, IFAC - Papers Online, V48, P128, DOI 10.1016/j.ifacol.2015.12.069
  • [3] Optimal location of mouse sensors on mobile robots for position sensing
    Cimino, Mauro
    Pagilla, Prabhakar R.
    [J]. AUTOMATICA, 2011, 47 (10) : 2267 - 2272
  • [4] Endo Mitsuru, 2009, 2009 IEEE International Conference on Robotics and Automation (ICRA), P2350, DOI 10.1109/ROBOT.2009.5152785
  • [5] Endo M., 2008, INT ROB SYST 2008 IR, P2795
  • [6] Fox D, 1998, FIFTEENTH NATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE (AAAI-98) AND TENTH CONFERENCE ON INNOVATIVE APPLICATIONS OF ARTIFICAL INTELLIGENCE (IAAI-98) - PROCEEDINGS, P983
  • [7] Jamshidi M., 1993, Robotics and remote systems for hazardous environments
  • [8] Method of usability for mobile robotics in a manufacturing environment
    Lottermoser, Albrecht
    Berger, Christoph
    Braunreuther, Stefan
    Reinhart, Gunther
    [J]. 10TH CIRP CONFERENCE ON INTELLIGENT COMPUTATION IN MANUFACTURING ENGINEERING - CIRP ICME '16, 2017, 62 : 594 - 599
  • [9] Ruangpayoongsak N, 2005, 2005 IEEE International Workshop on Safety, Security and Rescue Robots, P212
  • [10] Se S, 2001, IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P414, DOI 10.1109/IROS.2001.973392
12