Tracking a Mobile Robot in a UWB-sensor Grid

Ortega-Contreras, Jorge A.; Shmaliy, Yuriy S.; Andrade-Lucio, J. A.; Vazquez-Olguin, Miguel; Pale-Ramón, Eli G.; Uribe-Murcia, Karen

doi:10.37394/23202.2022.21.14

Cited by 1 publication

(1 citation statement)

References 26 publications

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“…Figure 2a shows the entire mobile robot and Figure 2b details one of its three omni wheels implementing the 3A configuration (defined in Table 1). This mobile robot has been applied to develop different mobile robotic applications [22][23][24], registering, in some cases, small trajectory inaccuracies of unknown origin attributed to various possible causes. This robot has a symmetric configuration, with the same distance between the centroid of the robot and each wheel (R k ), the same wheel radius (r k ), and 120 • wheel distribution (δ k=1...3 = [60, 180, 300] • ).…”

Section: Problem Caused By the Maximum Velocity Of The Motorsmentioning

confidence: 99%

Defining the Consistent Velocity of Omnidirectional Mobile Platforms

Rubies,

Palacín

2024

Machines

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The maximum linear (or translational) velocity achievable by an omnidirectional platform is not uniform as it depends on the angular orientation of the motion. This velocity is limited by the maximum angular velocity of the motors driving the wheels and also depends on the mechanical configuration and orientation of the wheels. This paper proposes a procedure to compute an upper bound for the translational velocity, named the consistent velocity of the omnidirectional platform, which is defined as the minimum of the maximum translational velocities achievable by the platform in any angular orientation with no wheel slippage. The consistent velocity is then a uniform translational velocity always achievable by the omnidirectional platform regardless of the angular orientation of the motion. This paper reports the consistent velocity for a set of omnidirectional platforms with three omni wheels that have the same radius and angular distribution but different angular orientations. Results have shown that these platforms can achieve different maximum velocities in different angular orientations although the consistent velocity is the same for all of them. Results have also shown that the consistent velocity has a linear relation with the angular velocity of the motion. The consistent velocity of a mobile platform can be used by its path-planning algorithm as an upper bound that guarantees the execution of any omnidirectional motion at a uniform and maximum translational velocity.

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Section: Problem Caused By the Maximum Velocity Of The Motorsmentioning

confidence: 99%