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

• 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. © 2011 IEEE.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Nyckelord

Kinematics

Mobile robots

Robot kinematics

Suspensions

Vehicles

Wheels

distance measurement

mobile robots

robot kinematics

suspensions (mechanical components)

ASOC modules

ASOC pivot shaft

active split offset caster

kinematic constraints

odometry improvement

omnidirectional mobile robot

outdoor terrain

passive suspension articulation

position estimation error

robot configuration

rough terrain

wheel slippage

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