南方科技大学知识苑(SUSTech KC): Experimental Characterization and Comparison of Three Typical Omnidirectional Mobile Robots

题名	Experimental Characterization and Comparison of Three Typical Omnidirectional Mobile Robots
作者	Zhuolun Li; Jiajun Long; Ximan Zhang; Chengyuan Gao; Shixing Jiang; Zheng Zhu; Zhenzhong Jia
DOI	10.1109/ICARM58088.2023.10218777
发表日期	2023
ISBN	979-8-3503-0018-5
会议录名称	2023 International Conference on Advanced Robotics and Mechatronics (ICARM)
页码	1162-1168
会议日期	8-10 July 2023
会议地点	Sanya, China
摘要	Omnidirectional vehicles (ODVs) or mobile robots are widely used in various industries due to their ability to move and rotate in narrow spaces without the need for multiple adjustments of moving direction or stopping. There are multiple types of ODVs, including those with standard wheels and those with special wheels such as Swedish wheels. Comprehensive characterization of the ODV's overall performance, which is very important when selecting specific configurations in the robot design process, is still missing in the literature. This paper qualitatively summarizes the comprehensive characteristics of three typical omnidirectional mobile robots in indoor scenarios through theoretical analysis and physical experiments. We compare the robot's performance through six representative evaluation metrics (maneuverability, efficiency, etc.) and express the results in a radar chart. The results of this study can assist designers in designing omnidirectional robots more effectively for specific application scenarios.
关键词	Target tracking Power demand Adhesives Statistical analysis Velocity control Wheels Radar tracking
学校署名	第一
相关链接	[IEEE记录]
收录类别	EI
EI入藏号	20233814760498
EI主题词	Machine design ; Maneuverability ; Mobile robots
EI分类号	Mechanical Design:601 ; Machine Components:601.2 ; Robotics:731.5
来源库	IEEE
全文链接	https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10218777
引用统计	被引频次[WOS]：0
成果类型	会议论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/559166
专题	工学院_机械与能源工程系
作者单位	Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology (SUSTech), Shenzhen, China
第一作者单位	机械与能源工程系
第一作者的第一单位	机械与能源工程系
推荐引用方式 GB/T 7714	Zhuolun Li,Jiajun Long,Ximan Zhang,et al. Experimental Characterization and Comparison of Three Typical Omnidirectional Mobile Robots[C],2023:1162-1168.