| Issue |
MATEC Web Conf.
Volume 144, 2018
International Conference on Research in Mechanical Engineering Sciences (RiMES 2017)
|
|
|---|---|---|
| Article Number | 01011 | |
| Number of page(s) | 10 | |
| Section | Machine Design | |
| DOI | https://doi.org/10.1051/matecconf/201814401011 | |
| Published online | 09 January 2018 | |
A Mathematical Model to Estimate the Position of Mobile Robot by Sensing Caster Wheel Motion
1
Department of Electronics and Communication Engineering, Malnad College of Engineering, Hassan - 573201, India
2
Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai - 600036, India
* Corresponding author: somashekhar@iitm.ac.in
This paper describes the position estimation of mobile robot by sensing caster wheel motion. A mathematical model is developed to determine the position of mobile robot by sensing the angular velocity and heading angle of the caster wheel. Using the established equations, simulations were carried out using MATLAB version 8.6 to observe and verify the position coordinates of mobile robot and in turn obtain its trajectory. The simulation results show that the angular velocity of caster wheel and heading angle calculated from the sensor output readings with the help of inverse kinematics equations matches well with that of actual values given as input for simulation. Simulation result of tracking rectangular trajectory implies that the path traced by the mobile robot can also be determined from the sensor output readings. This concept can be implemented on a real mobile robot for estimation of its position.
Key words: mobile robot / caster wheel / position estimation / kinematics / simulation
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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