2P1-F13 全方向移動型オドメータの開発

概要

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A lot of navigation methods for omni-directional mobile robots are proposed. In this paper, a two-wheels caster type odometer that estimates the current position and orientation of the omni-directional mobile robot is developed for the navigation. The mechanism of the developed odometer is special, and its gear train is complex. The developed odometer has a multiple rotation axis. The multiple rotation axis is composed of two shafts and bearings, and the two shafts each are possible to rotate independently. The mechanism of the multiple rotation axis transmits the different rotation of the two shafts. An estimating experiment in the current position and orientation of the omni-directional mobile robot shows the effectiveness of the developed two-wheels caster type odometer.
一般社団法人日本機械学会の論文
2009-05-25