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The study of path error for an omnidirectional home care mobile robot

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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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Author information

Authors and Affiliations

  1. Department of Aeronautical Engineering, National Formosa University, Yunlin, Taiwan

    Jie-Tong Zou

  2. Institute of Opto-Mechatronics and Materials, WuFeng Institute of Technology, Chia-Yi, Taiwan

    Feng-Chun Chiang

  3. Department of Electronic Engineering, National Yunlin University of Science and Technology, Yunlin, Taiwan

    Kuo L. Su

Authors
  1. Jie-Tong Zou
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  2. Feng-Chun Chiang
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  3. Kuo L. Su
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Corresponding author

Correspondence to Jie-Tong Zou.

Additional information

This work was presented in part at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011

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Zou, JT., Chiang, FC. & Su, K.L. The study of path error for an omnidirectional home care mobile robot. Artif Life Robotics 16, 127–131 (2011). https://doi.org/10.1007/s10015-011-0889-9

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  • DOI: https://doi.org/10.1007/s10015-011-0889-9

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