A. Sofwan, Hafidz Rizqi Mulyana, H. Afrisal, Abdul Goni
{"title":"Development of Omni-Wheeled Mobile Robot Based-on Inverse Kinematics and Odometry","authors":"A. Sofwan, Hafidz Rizqi Mulyana, H. Afrisal, Abdul Goni","doi":"10.1109/ICITACEE.2019.8904418","DOIUrl":null,"url":null,"abstract":"This paper presents the development of an omni-wheeled mobile robot based on inverse kinematics and odometry for local and indoor navigation purposes, such as for automatic warehousing in industry or healthcare environment. The robot uses four-wheeled diagonal configuration to conform directional angles of $\\pmb{\\alpha_{1}=45^{\\mathrm{o}}, \\alpha_{2}=135^{\\mathrm{o}}, \\alpha_{3}=225^{\\mathrm{o}}}$, and $\\pmb{\\alpha_{4}=315^{\\mathrm{o}}}$ Inverse kinematics is utilized to drive the robot to a point with specific trajectory and heading angle. Internal wheeled-encoders mounted in each DC-motors are used to read the angular speed and position. This research utilizes odometry technique to estimate the robot's position relative to the initial position. In order to develop a more precise odometry result, we combine the use of wheeled-encoders and an IMU. In order to maintain robot's position relative to the desired position, a PID control is applied to the algorithm. The result of the tests show that the developed omni-wheeled mobile robot is capable of performing locomotion to the desired position and to follow a controlled trajectory by maintaining a minimum error relative to the referenced trajectory.","PeriodicalId":319683,"journal":{"name":"2019 6th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 6th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICITACEE.2019.8904418","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 10
Abstract
This paper presents the development of an omni-wheeled mobile robot based on inverse kinematics and odometry for local and indoor navigation purposes, such as for automatic warehousing in industry or healthcare environment. The robot uses four-wheeled diagonal configuration to conform directional angles of $\pmb{\alpha_{1}=45^{\mathrm{o}}, \alpha_{2}=135^{\mathrm{o}}, \alpha_{3}=225^{\mathrm{o}}}$, and $\pmb{\alpha_{4}=315^{\mathrm{o}}}$ Inverse kinematics is utilized to drive the robot to a point with specific trajectory and heading angle. Internal wheeled-encoders mounted in each DC-motors are used to read the angular speed and position. This research utilizes odometry technique to estimate the robot's position relative to the initial position. In order to develop a more precise odometry result, we combine the use of wheeled-encoders and an IMU. In order to maintain robot's position relative to the desired position, a PID control is applied to the algorithm. The result of the tests show that the developed omni-wheeled mobile robot is capable of performing locomotion to the desired position and to follow a controlled trajectory by maintaining a minimum error relative to the referenced trajectory.