Performance Analysis and Odometry Improvement of an Omnidirectional Mobile Robot for Outdoor Terrain

Abstract

In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain is presented. The omnidirectional robot has four active split offset caster (ASOC) modules, enabling the robot to move in any planar direction. It also possesses passive suspension articulation, allowing the robot to conform to uneven terrain. The agility of the robot is experimentally evaluated in various configurations. In addition an odometry method that mitigates position estimation error due to wheel slippage is proposed. A key aspect of the proposed method is to utilize sensory data of wheel velocity, and turning rate around each ASOC pivot shaft, along with kinematic constraints of the robot configuration. Experimental odometry tests with different maneuvers in rough terrain are presented that confirm the utility of the proposed method.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2011
Accession Number
ADA554459

Entities

People

  • Elvine Pineda
  • Genya Ishigami
  • Greg Hudas
  • Jim Overholt
  • Karl Iagnemma

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Compensation
  • Computers
  • Computing Devices
  • Electronic Mail
  • Engineering
  • Errors
  • Ground Speed
  • Image Processing
  • Maneuvers
  • Manufacturing
  • Materials Handling
  • Mobility
  • Omnidirectional
  • Orientation (Direction)
  • Position Finding
  • Potentiometers
  • Shock Absorbers

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy