メカナム式全方向移動体における移動誤差の計測実験

抄録

It is difficult for mobile robot to estimate accurate localization by odometry. In particular, it is difficult for omni-directinal mobile robot to estimate accurate localization by odometry. Position error of mobile robot is mainly because of slips on the wheels. Therefore, each angular velocity is compensated the error of the velocity of the mobile robot that calculated by introducing the error coefficient. The purpose of the research is to aim for autonomaous movement and map generation in an environment including dynamic obstacles using omni-directional mobile robot with mecanum wheel. In this paper, we investigate in order to give an error confident, we consider the tendncy of the measurement error of the same mobile robot with mecanum wheel in the actual environment.