Departmental Bulletin Paper 路面環境に対応したメカナムホイールロボットのデッドレコニング
A STUDY OF DEAD-RECKONING ALGORITHM FOR MECANUM WHEEL BASED MOBILE ROBOT UNDER VARIOUS TYPES OF ROAD SURFACE

上町, 亮介  ,  KAMMACHI, Ryosuke

562015-03-24 , 法政大学大学院理工学・工学研究科
ISSN:21879923
NCID:AA12677220
Description
In this paper, we describe about a study of dead-reckoning algorithm for mecanum wheel based mobile robot under various types of road surface. Because of mecanum wheel based mobile robot can move omni-direction by utilizing tire-road surface friction. Therefore depending on road surface condition, it is difficult to estimate accurate self-position by applying conventional dead-reckoning method. In order to overcome inaccuracy of conventional dead-reckoning method for mecanum wheel based mobile robot, we propose new dead-reckoning algorithm. Validity of proposed algorithm is confirmed by extensive actual experiment under various types of road surface.
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http://repo.lib.hosei.ac.jp/bitstream/10114/10602/1/13R6105.pdf

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