Abstract
A robot system composed of a mobile robot and an manipulator is called a `mobile manipulator'. In this paper a navigation system based on dead-reckoning for a power wheeled steering (PWS) mobile manipulator is proposed. A guidance control using dead-reckoning requires periodical compensation of estimated position and heading errors. We propose the compensation method which detects x-y coordinates on the travelling plane and heading around z axis by using magnet marker placed along a course. Moreover a guidance method aimed at correct approaching to a destination point with a designated heading is proposed, which constructs a autonomous navigation system with the magnetic compensation device. And the total navigation system is discussed on a basis dynamical and kinematical formulation of the PWS mobile manipulator.
| Original language | English |
|---|---|
| Pages | 791-796 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 1997 |
| Externally published | Yes |
| Event | Proceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC - Boston, MA, USA Duration: Nov 9 1997 → Nov 12 1997 |
Other
| Other | Proceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC |
|---|---|
| City | Boston, MA, USA |
| Period | 11/9/97 → 11/12/97 |
ASJC Scopus subject areas
- Automotive Engineering
- Mechanical Engineering
- Computer Science Applications