The study of path error for an omnidirectional home care mobile robot |
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| Authors: | Jie-Tong Zou Feng-Chun Chiang Kuo L Su |
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| Affiliation: | 1.Department of Aeronautical Engineering,National Formosa University,Yunlin,Taiwan;2.Institute of Opto-Mechatronics and Materials,WuFeng Institute of Technology,Chia-Yi,Taiwan;3.Department of Electronic Engineering,National Yunlin University of Science and Technology,Yunlin,Taiwan |
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| Abstract: | The first objective of this research was to develop an omnidirectional home care mobile robot. A PC-based controller controls
the mobile robot platform. This service mobile robot is equipped with an “indoor positioning system” and an obstacle avoidance
system. The indoor positioning system is used for rapid and precise positioning and guidance of the mobile robot. The obstacle
avoidance system can detect static and dynamic obstacles. In order to understand the stability of a three-wheeled omnidirectional
mobile robot, we carried out some experiments to measure the rectangular and circular path errors of the proposed mobile robot
in this research. From the experimental results, we found that the path error was smaller with the guidance of the localization
system. The mobile robot can also return to its starting point. The localization system can successfully maintain the robot’s
heading angle along a circular path. |
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