Low Cost Sensor Data Fusion in Omnidirectional Mobile Robot Feedback System to Improve the Navigation Accuracy

Abstract

Omnidirectional mobile robot has gained popularity among researchers. However, omnidirectional mobile robot is rarely been applied in industry field especially in the factory which is relatively more dynamic than normal research setting condition. Hence, it is very important to have a stable yet reliable feedback system to allow a more efficient and better performance controller on the robot. In order to ensure the reliability of the robot, many of the researchers use high cost solution in the feedback of the robot. For example, there are researchers use global camera as feedback. This solution has increases the cost of the robot setup fee to a relatively high amount. The setup system is also hard to modify and lack of flexibility. In this paper, a novel sensor fusion technique is proposed and the result is discussed.

Review on Land-Based Wheeled Robots

“…In this review, we neglect dynamic matters [30][31][32][33]: contacts [34,35], vibrations [36][37][38][39][40][41][42], deflections [43][44][45][46][47][48][49] and accuracy [50][51][52][53][54][55][56][57][58][59] of robot realization and mounting [60][61][62][63][64][65].…”

The State of the Art of Mobile Robots on a Solid Surface

“…In this paper the angular velocities of the two wheels of the mobile robot are independently controlled. In this review, we neglect dynamic matters [24][25][26]: contacts [27,28], vibrations [29][30][31][32][33][34], deflections [35][36][37][38][39][40][41] and accuracy [42][43][44][45][46][47][48] of robot realization and mounting [49][50][51][52][53][54].…”