Abstract
Most of existing omnidirectional wheels have complex mechanism, and are not practical. Generally, they have low self positioning accuracy using internal sensors. Because it is hard to measure a movement of free rollers. On the other hand, an active-caster wheel feature simple mechanism and high positioning accuracy, and I was enable the robot to improve self positioning accuracy. In this paper, the calculation of self positioning with active-caster wheeled robot are studied. The effectiveness of the proposed method is evaluated through experiments and simulation.
