Geometric kinematics modeling of omni-directional autonomous mobile robot and its applications

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2033-2038

  Kim, Dong Sung ^a   Lee, Hyun Chul ^a   Kwon, Wook Hyun ^a  

^a Seoul National University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

GEOMETRIC KINEMATICS MODELING; OMNIDIRECTIONAL AUTONOMOUS MOBILE ROBOTS; PATH GENERATION;

COMPUTATIONAL COMPLEXITY; COMPUTATIONAL GEOMETRY; COMPUTER SIMULATION; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL; MOTION PLANNING; NAVIGATION;

MOBILE ROBOTS;

EID: 0033718314     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. J.C.Alexander and J.H. Maddocks, "On the kinematics of wheeled mobile robots " Autonomous Robot Vehicles, Springer Verlag, pp. 5-24, 1990.
2. P.F.Muir and Neumann, "Kinematic modeling of wheeled mobile robots," Journal of Robotics Systems, vol.4, no.2 pp.281-340, 1987.
3. Yongji Wang and J.W. Roberts, "Motion feasibility of a wheeled vehicle with a steering angle limit," Robotica, v01.12, pp.217-226, 1994.
4. W.L.Nelson and I.J. Cox, "Local path control for an autonomous vehicle," IEEE International Conference on Robotics and Automation, pp.38-44, 1988.
5. P. J. McKerrow,"Introduction to Robotics," Addison Wesle y,pp. 57-67, 1991
6. Hans P. Moravec," Autonomous Mobile Robots," CMU Robotics Institute Technical Report CMURI-TR-86-4, February 1986
7. V.Munoz and A.Simon,"Mobile robot trajectory planning with dynamic and kinematics constraints," IEEE International Conference on Robotics and Automation, pp.2802-2807, 1994.
8. Balakrishna, R., and Ghosal, A., "Two dirnensional wheeled vehicle kinematics, " IEEE Transaction on Robotics and Automation, Vol.11, .1, pp.126-130, 1995
9. Hans Jacob S. Feder, John.J. Leorard, Christopher M. Smith., " Adaptive Mobile Robot Navigation and Mapping," Journal of Robotics Research, vol.18, no.7, pp.650-668, 1999.
10. D.S.Kim, Y.S.Kim, W.H.Kwon, "A Real Time Detection Algorithm for Dirrection Error in Omnidirectional Image Sensors for Mobile Robots, " IEEE International Conference on Robotics and Automation, pp.2982-2987, 1999