| Autor: |
Zhu Linjun, Shi Chenchen, Xing Wu, Peihuang Lou |
| Rok vydání: |
2014 |
| Předmět: |
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| Zdroj: |
ROBIO |
| DOI: |
10.1109/robio.2014.7090592 |
| Popis: |
Wheeled mobile robots equipped with normal tires are used widely for transporting materials in industrial fields. High maneuverability especially omni-directional mobility in the floor is desired in narrow or crowded areas. An omni-directional mobile robot is developed in this paper by using two automated guided driving modules in a tandem layout. Each module has a suspension-like mechanism on the upper layer and a rotatable driving chassis with powered wheels on the lower layer. A kinematics model is built for this mobile robot, and a cross coupling control algorithm is developed for its omni-directional movement. An on-board camera is placed on the center of the robot to measure its pose deviations with respect to guide paths. In order to improve the accuracy of vision measuring, a plane target with the grid pattern is used to calibrate the intrinsic, distortion and extrinsic parameters of the on-board camera. This camera is then used to measure the pose deviations in the omni-directional motion experiment. The experiment results show the feasibility of that the combination of two guided driving modules can be used to improve the maneuverability of mobile robots. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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