Autonomous Mobile Robot Equipped with a Measurement Wheel on Rough Terrain

Abstract

This paper describes the development of an autonomous mobile robot with passive measuring wheels to provide public services in urban areas. The robot has two differential wheels and a passive wheel placed at the center of the differential wheels. The robot can estimate its correct self-position if the contact surface of the measuring wheel does not slip even if the two differential wheels slip. The slippage is detected by measuring the angular velocity of the measuring wheel, which can be used for route planning in the future work.