Two-leveled obstacle avoidance scheme using a kinematically redundant omni-directional mobile robot

This work presents the kinematic modeling and motion planning algorithm for an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees. Initially, the kinematic modeling of thi...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3949 - 3954
Main Authors Eui-Jung Jung, Sung Mok Kim, Byung-Ju Yi, Whee Kuk Kim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Jacobian matrices
Joints
Kinematics
Mobile robots
Redundancy
Wheels
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Summary:This work presents the kinematic modeling and motion planning algorithm for an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees. Initially, the kinematic modeling of this robot is conducted. Next, using such a kinematic redundancy of each chain, several motion planning algorithms are suggested. A localization algorithm of the mobile robot based on odometry is presented and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is presented. The usefulness of the proposed algorithms is verified through simulation.
ISBN:9781424466740
1424466741
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5650584