Authors
Amornphun Phunopas, Shinichi Inoue
Corresponding Author
Amornphun Phunopas
Available Online 31 March 2018.
DOI
https://doi.org/10.2991/jrnal.2018.4.4.4How to use a DOI?
Keywords
Omnidirectional wheel, Indoor mobile robot, Kalman filter, Motion improvement
Abstract
The four-wheeled omnidirectional platform is great to use for an indoor mobile robot. It can increasingly move and change heading directions. However, the robot is easy to slip when it is moving. One or more wheels are sometimes not touching the ground. This paper approaches to solving these problems by computational simulation in locomotion. The mathematical models simulate the robot movement. The robot struggles to go to the target with randomly simulated slips and untouched ground circumstances. The robot can estimate the positions using the Kalman filter and readjust itself to the planned path. Consequently, this paper demonstrates the motion improvement and compares the results of decreasing errors.

Copyright
© 2018, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).