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Kinematic Analysis and Odometry-Based Navigation of an Omnidirectional Wheeled Mobile Robot on Uneven Surfaces

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Abstract

Wheeled mobile robots, particularly omnidirectional wheeled mobile robots are widely employed for various applications in different environments, which might be subjected to unevenness and irregularities in practice. This type of robot must be able to fulfill its maneuvers kinematically to prevent disruptions due to unevenness in its navigation, still travelling desired paths. In this research, the motion of the mobile robot on uneven surfaces is investigated and its kinematic equations are revised to take the unevenness of surfaces into account, and its navigation and path tracking are studied. In this regard, the solution of real time updating the rotation matrix on the basis of Euler angles is proposed. To verify this algorithm, a procedure for obtaining Euler angles in the simulation is also presented and verified. In the experimental test, the Euler angles are calculated with the low-cost inertial sensors. Experimental tests are performed by an omnidirectional three-wheeled mobile robot on a laboratory uneven terrain specifically designed and built for this purpose. By employing this algorithm in the simulation, the positioning error caused by the unevenness of the surface was completely eliminated and the traveled path was matched with the desired path. In the experimental test, the improvement of the error of the path final point, was more than 83% and the improvement of the RMS error of all the points of the path was more than 77%.

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Acknowledgments

We would like to thank the Robotic laboratory of Shahid Rajaee teacher training university members for their assistance to perform the practical tests.

Data and Codes Availability

The authors declare that the data supporting the findings of this study are available within the article. The codes that support the findings of this study are not openly available and are available from the corresponding author upon reasonable request.

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The authors declare that no funds, grants, or other support were received during this study or the preparation of this manuscript.

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Authors and Affiliations

  1. Shahid Rajaee Teacher Training University, Tehran, Iran

    Ehsan Savaee, Ali Rahmani Hanzaki & Yasin Anabestani

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  1. Ehsan Savaee
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  2. Ali Rahmani Hanzaki
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  3. Yasin Anabestani
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Contributions

All authors contributed to the study conception and design. Simulation, practical test preparation, data collection and analysis were performed by Ehsan Savaee and Yasin Anabestani under supervision of the second author. The first draft of the manuscript was written by the 1st author, translated by the 3rd, and reviewed and corrected by Ali Rahmani Hanzaki. All authors commented on previous versions of the manuscript, and read and approved the final one.

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Correspondence to Ali Rahmani Hanzaki.

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Savaee, E., Rahmani Hanzaki, A. & Anabestani, Y. Kinematic Analysis and Odometry-Based Navigation of an Omnidirectional Wheeled Mobile Robot on Uneven Surfaces. J Intell Robot Syst 108, 13 (2023). https://doi.org/10.1007/s10846-023-01876-5

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