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Kinematic Analysis and Motion Planning for a Planar Multiarticulated Omnidirectional Mobile Robot

Authors
Jung, Eui-JungYi, Byung-JuKim, Wheekuk
Issue Date
12월-2015
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Keywords
Kinematic redundancy; obstacle avoidance; omnidirectional mobile robot; and singularity analysis
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.20, no.6, pp.2983 - 2995
Indexed
SCIE
SCOPUS
Journal Title
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume
20
Number
6
Start Page
2983
End Page
2995
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/91727
DOI
10.1109/TMECH.2015.2416153
ISSN
1083-4435
Abstract
In this paper, kinematic modeling and singularity analysis are performed for an omnidirectional mobile robot. At the beginning, generalized formulas of the mobility and the first-order kinematics for a planar multiarticulated omnidirectional mobile robot are proposed. To verify the proposed formulas, a mobile robot that consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees is introduced. Initially, the kinematic modeling and dynamic analysis, and odometry calculation for this robot are conducted. Next, singularity analysis of the proposed robot is performed. Then, using such a kinematic redundancy of each chain, motion planning algorithms that exploit the kinematic redundancy of the wheel chain are suggested. For navigation, a localization algorithm of the mobile robot based on odometry is presented, and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is proposed. The usefulness of the proposed algorithms is verified through experimentation.
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