Abstract
Though the basic objective of mobile robots is movement between positions, they have a drawback that position accuracy is not completely guaranteed because of the slip between the wheels and ground. Various strategies employing additional sensors have been adopted to decrease the position error. In this research, multiple ultrasonic distance sensors were used to measure the position and orientation of the mobile robot, and a position compensation algorithm was developed to minimize the position error between the current position and the desired position. In contrast to the conventional mobile robots with wheels that require at least a few steps of path planning to approach a designated position, the Mecanum wheel adopted in this research has a unique structural property that imparts omnidirectionality to the mobile robot; hence, the mobile robot can immediately move in arbitrary directions without any rotation of the body. This enables the proposed algorithm to directly eliminate the position and orientation errors without any complicated path planning. The algorithm was experimentally validated. The performance of the proposed algorithm applied to omnidirectional wheels was experimentally compared to that of independent dead-reckoning control with general wheels from the viewpoints of position accuracy and movement time.
Similar content being viewed by others
References
Shao, M.-L., Lee, J. Y., Han, C. H., and Shin, K.-S., “Sensor-Based Path Planning: The Two-Identical-Link Hierarchical Generalized Voronoi Graph,” Int. J. Precis. Eng. Manuf., Vol. 16, No. 8, pp. 1883–1887, 2015.
Ryu, H. and Chung, W. K., “Local Map-Based Exploration Using a Breadth-First Search Algorithm for Mobile Robots,” Int. J. Precis. Eng. Manuf., Vol. 16, No. 10, pp. 2073–2080, 2015.
Moon, C.-B. and Chung, W., “Practical Probabilistic Trajectory Planning Scheme based on the Rapidly-Exploring Random Trees for Two-Wheeled Mobile Robots,” Int. J. Precis. Eng. Manuf., Vol. 17, No. 5, pp. 591–596, 2016.
Borenstein, J. and Feng, L., “Measurement and Correction of Systematic Odometry Errors in Mobile Robots,” Proc. of. IEEE Transactions on Robotics and Automation, Vol. 12, No. 6, pp. 869–880, 1996.
Martinelli, A., “The Odometry Error of a Mobile Robot with a Synchronous Drive System,” Proc. of IEEE Transactions on Robotics and Automation, Vol. 18, No. 3, pp. 399–405, 2002.
Antonelli, G., Chiaverini, S., and Fusco, G., “A Calibration Method for Odometry of Mobile Robots Based on the Least-Squares Technique: Theory and Experimental Validation,” Proc. of IEEE Transactions on Robotics, Vol. 21, No. 5, pp. 994–1004, 2005.
Jung, C. and Chung, W. “Accurate Calibration of Two Wheel Differential Mobile Robots by Using Experimental Heading Errors,” Proc. of IEEE International Conference on Robotics and Automation, pp. 4533–4538, 2012.
Jung, D., Seong J., Moon, C.-B., Jin, J., and Chung, W., “Accurate Calibration of Systematic Errors for Car-Like Mobile Robots using Experimental Orientation Errors,” Int. J. Precis. Eng. Manuf., Vol. 17, No. 9, pp. 1113–1119, 2016.
Hoang, N.-B. and Kang, H.-J., “Observer-Based Dynamic Parameter Identification for Wheeled Mobile Robots,” Int. J. Precis. Eng. Manuf., Vol. 16, No. 6, pp. 1085–1093, 2015.
Jung, D., Seong, J., Moon, C.-B., Jin, J., and Chung, W., “Accurate Calibration of Systematic Errors for Car-Like Mobile Robots Using Experimental Orientation Errors,” Int. J. Precis. Eng. Manuf., Vol. 17, No. 9, pp. 1113–1119, 2016.
Clark, S. and Durrant-Whyte, H., “Autonomous Land Vehicle Navigation Using Millimeter Wave Radar,” Proc. of IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3697–3702, 1998.
Muir, P. F. and Neuman, C. P., “Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot,” Proc. of IEEE International Conference on Robotics and Automation, Vol. 4 pp. 1172-1178, 1987.
Doroftei, I., Grosu, V., and Spinu, V., “Omnidirectional Mobile Robot- Design and Implementation,” Bioinspiration and Robotics: Walking and Climbing Robots, I-Tech Education and Publishing, Vienna, pp. 511–528, 2007.
Jeong, S.-K., Choi, H.-S., Bae, J.-H., You, S.-S., Kang, S. H., et al., “Design and Control of High Speed Unmanned Underwater Glider,” Int. J. Precis. Eng. Manuf.-Green Tech., Vol. 3, No. 3, pp. 273–279, 2016.
Chu, B. and Sung, Y. W., “Mobile Performance Evaluation of a Mecanum Wheeled Omni-Directional Mobile Robot,” Journal of the Korean Society of Manufacturing Technology Engineers, Vol. 23, No. 4, pp. 374–379, 2014.
Jeong, J., Kwon, S.-J., Chu, B., and Park, J., “Unified-Type Design and Structural Analysis for Mecanum Wheel Performance Improvement,” Journal of the Korean Society of Manufacturing Process Engineers, Vol. 13, No. 2, pp. 117–123, 2014
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Chu, B. Position compensation algorithm for omnidirectional mobile robots and its experimental evaluation. Int. J. Precis. Eng. Manuf. 18, 1755–1762 (2017). https://doi.org/10.1007/s12541-017-0204-3
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12541-017-0204-3