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Two wheels caster type odometer for omni-directional vehicles

This paper proposes a new type of two wheels caster type odometer to estimate the current position and orientation of omni-directional vehicles. The proposed odometer is composed of two passive wheels and one passive rotational axis. The two wheels rotate independently, and the rotational axis chang...

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Main Authors:	Ushimi, N., Yamamoto, M., Mohri, A.
Format:	Conference Proceeding
Language:	English
Subjects:	Gears Joining processes Mobile robots Navigation Shafts Space vehicles Tires Vehicle driving Velocity measurement Wheels
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creator	Ushimi, N. Yamamoto, M. Mohri, A.
description	This paper proposes a new type of two wheels caster type odometer to estimate the current position and orientation of omni-directional vehicles. The proposed odometer is composed of two passive wheels and one passive rotational axis. The two wheels rotate independently, and the rotational axis changes the odometer's orientation as the omni-directional vehicle moves. Three rotary encoders using a gear train measure angular velocities of the two wheels and rotational axis. A mechanism of the gear train is proposed to prevent the encoder from being entangled with it. Using measured values of the three encoders, the current velocity vector of an omni-directional vehicle is calculated by kinematics of the odometer. Using the velocity vector, the current position and orientation of the omni-directional vehicle are estimated by dead reckoning. Results of localization experiments by the developed odometer are shown.
doi_str_mv	10.1109/ROBOT.2003.1241643
format	conference_proceeding
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The proposed odometer is composed of two passive wheels and one passive rotational axis. The two wheels rotate independently, and the rotational axis changes the odometer's orientation as the omni-directional vehicle moves. Three rotary encoders using a gear train measure angular velocities of the two wheels and rotational axis. A mechanism of the gear train is proposed to prevent the encoder from being entangled with it. Using measured values of the three encoders, the current velocity vector of an omni-directional vehicle is calculated by kinematics of the odometer. Using the velocity vector, the current position and orientation of the omni-directional vehicle are estimated by dead reckoning. 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Results of localization experiments by the developed odometer are shown.</description><subject>Gears</subject><subject>Joining processes</subject><subject>Mobile robots</subject><subject>Navigation</subject><subject>Shafts</subject><subject>Space vehicles</subject><subject>Tires</subject><subject>Vehicle driving</subject><subject>Velocity measurement</subject><subject>Wheels</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>0780377362</isbn><isbn>9780780377363</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2003</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotj8tqwzAUREUfUCftD7Qb_YBcSVfWY9FFG_qCgKG40F2Q7WuiYkfBMg35-7o0q2FgzjBDyK3guRDc3X-UT2WVS84hF1IJreCMZLIwhnFrvs7JghvLwRjQ8oJkghecKSPdFVmk9M1nDLTOyEN1iPSwRewTbXyacKTTcY80tnHAP9fFkcZhF1gbRmymEHe-pz-4DU2P6Zpcdr5PeHPSJfl8ea5Wb2xdvr6vHtcsSHAT87q1na2FqxV4qJVwBlRnjQQNru7QF9i081jXNLWTXBtfuHaOdr5ujdQWluTuvzcg4mY_hsGPx83pNvwC8KlKoQ</recordid><startdate>2003</startdate><enddate>2003</enddate><creator>Ushimi, N.</creator><creator>Yamamoto, M.</creator><creator>Mohri, A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>2003</creationdate><title>Two wheels caster type odometer for omni-directional vehicles</title><author>Ushimi, N. ; Yamamoto, M. ; Mohri, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i239t-a6d8f8b19b43a3b419734f8723639bfea5ecd8039ccb92067a59d43afabd72683</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2003</creationdate><topic>Gears</topic><topic>Joining processes</topic><topic>Mobile robots</topic><topic>Navigation</topic><topic>Shafts</topic><topic>Space vehicles</topic><topic>Tires</topic><topic>Vehicle driving</topic><topic>Velocity measurement</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Ushimi, N.</creatorcontrib><creatorcontrib>Yamamoto, M.</creatorcontrib><creatorcontrib>Mohri, A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ushimi, N.</au><au>Yamamoto, M.</au><au>Mohri, A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Two wheels caster type odometer for omni-directional vehicles</atitle><btitle>2003 IEEE International Conference on Robotics and Automation (Cat. 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Using the velocity vector, the current position and orientation of the omni-directional vehicle are estimated by dead reckoning. Results of localization experiments by the developed odometer are shown.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.2003.1241643</doi></addata></record>
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identifier	ISSN: 1050-4729
ispartof	2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003, Vol.1, p.497-502 vol.1
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language	eng
recordid	cdi_ieee_primary_1241643
source	IEEE Xplore All Conference Series
subjects	Gears Joining processes Mobile robots Navigation Shafts Space vehicles Tires Vehicle driving Velocity measurement Wheels
title	Two wheels caster type odometer for omni-directional vehicles
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