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Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System

  • Keigo Watanabe
  • Yamato Shiraishi
  • Jun Tang
  • Toshio Fukuda
  • Spyros G. Tzafestas
Chapter
Part of the International Series on Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 18)

Abstract

Recently, an industrial mobile robot has been required to have some abilities that it can freely travels within a confused factory and achieve an accurate positioning in a work station. For this purpose, an active investigation is now focused on the study of omnidirectional mobile robots, instead of a conventional mobile robot with two independent driving wheels, or with the front-wheel handling and rear-wheel driving. The omnidirectional mobile robot has been studied by using a variety of mechanisms. In particular, a holonomic vehicle has a full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. Several omnidirectional platforms have been known to be realized by driving wheel with steering (or offset driving wheel) [1], [2], [3], universal wheels [4], [5], spherical tires [6], or crawler mechanisms [7], [8].

Keywords

Mobile Robot Circular Path Move Coordinate System Wheel Mobile Robot Character Path 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media Dordrecht 1999

Authors and Affiliations

  • Keigo Watanabe
    • 1
  • Yamato Shiraishi
    • 1
  • Jun Tang
    • 2
  • Toshio Fukuda
    • 3
  • Spyros G. Tzafestas
    • 4
  1. 1.Department of Mechanical EngineeringSaga UniversitySagaJapan
  2. 2.Department of Mechanical EngineeringYamaguchi UniversityUbeJapan
  3. 3.Department of Micro Systems EngineeringNagoya UniversityNagoyaJapan
  4. 4.Computer Science DivisionNational Technical University of AthensAthensGreece

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