著者

上町 亮介

出版者

法政大学大学院理工学・工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 = 法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.56, pp.1-4, 2015-03-24

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In this paper, we describe about a study of dead-reckoning algorithm for mecanum wheel based mobile robot under various types of road surface. Because of mecanum wheel based mobile robot can move omni-direction by utilizing tire-road surface friction. Therefore depending on road surface condition, it is difficult to estimate accurate self-position by applying conventional dead-reckoning method. In order to overcome inaccuracy of conventional dead-reckoning method for mecanum wheel based mobile robot, we propose new dead-reckoning algorithm. Validity of proposed algorithm is confirmed by extensive actual experiment under various types of road surface.