Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
Development of a Holonomic Omnidirectional Vehicle and an Accurate Guidance Method of the Vehicles
Akihira NishikawaMark WestHaruhiko Asada
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1995 Volume 13 Issue 2 Pages 249-256

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Abstract
A new design of holonomic omnidirectional vehicle and a laser guidance technique for the vehicles are presented. The holonomic mechanism allows the vehicle to maneuver in an arbitrary direction from an arbitrary configuration on a plane. This significantly simplifies control problems and improves positioning accuracy. A fundamental method of obtaining omnidirectional motion with holonomic constraints on the floor, using a mechanism with spherical tires, is described. Each vehicle can be viewed as an XYθ positioning table with an infinite workspace. For accurate guidance and positioning, a laser guidance technique is developed. A prototype system is designed, built and tested. Upon experiments, omnidirectional motion of the vehicle and the effectiveness of the guidance method were confirmed.
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© The Robotics Society of Japan
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