Odometry Aspects of an Omni-Directional Mobile Robot with Modified Mecanum Wheels

Abstract:

Mobile robots have a large scale use in industry, military operations, exploration and other applications where human intervention is risky. When a mobile robot has to move in small and narrow spaces and to avoid obstacles, mobility is one of its main issues. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. Also, the accurate estimation of the position is a key component for the successful operation for most of autonomous mobile robots. In this work, some odometry aspects of an omni-directional robot are presented and a simple odometer solution is proposed.

• Periodical: Applied Mechanics and Materials (Volume 658)
• Pages: 587-592
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.658.587
• Online since: October 2014
• Authors: Ionel Conduraru, Ioan Doroftei*, Dorin Luca, Alina Conduraru Slatineanu
• Keywords: Kinematics, Modified Mecanum Wheel, Odometry, Omni-Directional Mobile Robot

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