Driving Control by Based upon the Slip Pattern of the Ball Robot

  • Howon Lee
  • Moonjeon Hwan
  • Dongju Park
  • Seon-ho Park
  • Jangmyung Lee
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9834)

Abstract

This paper proposes a driving course plans using the slip patterns of an Mecanum wheel Ball Robot. Slip of Mecanum wheel Ball Robot causes uncertainty on the driving. This solution is necessary in order to reduce the uncertainty of the robot. Analyzing the slip pattern according on the driving angle change of the robot, which was shown in the graph for slip pattern. On the basis of a formal slip pattern can establish the moving performance of the Mecanum wheel Ball Robot and the optimal path planning. Using a self-produced robots, the experiment on the optimal path planning using a slip pattern and the performance was evaluated.

Keywords

Mecanum wheels Slip pattern Inverted ball robot 

Notes

Acknowledgment

This research is supported by the MOTIE (Ministry of Trade, Industry & Energy), Korea, under the Industry Convergence Liaison Robotics Creative Graduates Education Program supervised by the KIAT (N0001126).

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Howon Lee
    • 1
  • Moonjeon Hwan
    • 1
  • Dongju Park
    • 1
  • Seon-ho Park
    • 1
  • Jangmyung Lee
    • 1
  1. 1.Department of Electronics EngineeringPusan National UniversityBusanKorea

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