Steering control algorithm for efficient drive of a mobile robot with steerable omni-directional wheels |
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Authors: | Jae-Bok Song Kyung-Seok Byun |
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Affiliation: | 1. School of Mechanical Engineering, Korea University, Seoul, 136-713, Korea 2. Department of Mechanical Engineering, Mokpo National University, Mokpo, 534-729, Korea
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Abstract: | Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of
wheels because they can perform 3-DOF motions on a plane. This paper presents a novel mobile robot design with steerable omnidirectional
wheels. This robot can operate in either omnidirectional or differential drive modes, depending on the drive conditions. In
the omnidirectional mode, the robot has 3 DOF in motion and 1 DOF in steering, which can function as a continuously variable
transmission (CVT). The CVT function can be used to enhance the efficiency of the robot operation by increasing the range
of the velocity ratio of the robot velocity to wheel velocity. The structure and kinematics of this robot are presented in
detail. In the proposed steering control algorithm, the steering angle is controlled such that the motors may operate in the
region of high velocity and low torque, thus operating with maximum efficiency. Various tests demonstrate that the motion
control of the proposed robot works satisfactorily and the proposed steering control algorithm for CVT can provide a higher
efficiency than the algorithm using a fixed steering angle. In addition, it is shown that the differential drive mode can
give better efficiency than the omnidirectionaldrive mode. |
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