A study of safety control for omni-directional mobile robots in consideration of driving wheel slips

This paper discusses a simulation of Omni-Directional Mobile Robots (ODMRs) in consideration of driving wheel slips. In mobile robot navigation, the use of ODMRs is expected in narrow and complicated indoor floors such as offices with human beings. The ODMR is requested to control safely without a obstacle collision in the navigation. The safety control of the ODMR needs to consider driving wheel slips, because special types of driving wheels used for many ODMRs easily slip. A Two Wheels Caster (TW-Caster) is specially developed for the measurement of the ODMR driving wheel slip. A driving wheel slip model and tracking control of the ODMR are discussed in simulations. Simulation results show effectiveness of the proposed driving wheel slip model, compared with experiments.

[1]  Chandrasekhar Kambhampati,et al.  On-line Planning for Collision Avoidance on the Nominal Path , 1998, J. Intell. Robotic Syst..

[2]  Kazuhiko Terashima,et al.  Fuzzy power assist control system for omni-directional transport wheelchair , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[3]  Paolo Fiorini,et al.  Motion Planning in Dynamic Environments Using Velocity Obstacles , 1998, Int. J. Robotics Res..

[4]  Xin Yang,et al.  An Upper Drive-Active Dual-Wheel Caster Assembly and its Application for Constructing Holonomic and Omnidirectional Platform , 2001 .

[5]  Kazuhito Yokoi,et al.  Motion control of omnidirectional mobile manipulator for indoor environment , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[6]  Liqiang Feng,et al.  Measurement and correction of systematic odometry errors in mobile robots , 1996, IEEE Trans. Robotics Autom..

[7]  Motoji Yamamoto,et al.  Two wheels caster type odometer for omni-directional vehicles , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[8]  François G. Pin,et al.  A new family of omnidirectional and holonomic wheeled platforms for mobile robots , 1994, IEEE Trans. Robotics Autom..

[9]  Steven Dubowsky,et al.  Analysis and design of an omnidirectional platform for operation on non-ideal floors , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[10]  Masayoshi Wada,et al.  Holonomic and omnidirectional vehicle with conventional tires , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[11]  H. Harry Asada,et al.  Design and control of ball wheel omnidirectional vehicles , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.