A Study of Position Estimation Considering Wheel Slip of Mecanum Wheeled Mobile Robot

Oh, Injin; Kwon, Gunwoo; Yang, Hyunseok

doi:2019.22.3.401

J. KIMS Technol > Volume 22(3); 2019 > Article

Research Paper

Journal of the Korea Institute of Military Science and Technology 2019;22(3):401-407.
DOI: https://doi.org/10.9766/KIMST.2019.22.3.401

A Study of Position Estimation Considering Wheel Slip of Mecanum Wheeled Mobile Robot

Injin Oh, Gunwoo Kwon, Hyunseok Yang

Department of Mechanical Engineering, Yonsei University

메카넘 휠 이동로봇의 바퀴 슬립을 고려한 위치 추정 연구

오인진, 권건우, 양현석

연세대학교 기계공학과

Abstract

In this paper, the position estimation considering wheel slip of mecanum wheeled mobile robots is discussed. Since the mecanum wheeled mobile robot does not need a space to rotate, it is very suitable in narrow industrial fields. However, the slip caused by the roller attached to the wheel makes it difficult to estimate the position precisely. Due to these limitations, mecanum wheels are rarely applied to unmanned mobile robots in automation factories. In this paper, a method to compensate the orientation and distance error caused by the slip is proposed. The exact orientation is measured by fusing gyro and magnetometer sensor data with application of Kalman filter. In addition, the kinematic model accounting slip effects will be defined to compensate the distance error.

Key Words: Mecanum Wheel, Slip Coefficient, Kinematic Model, Kalman Filter, Position Estimation