Perancangan, Pembuatan dan Pengujian Omnidirectional Vehicle

Authors

  • Muljowidodo Muljowidodo
  • Cahyadi Setiawan

Abstract

Research and development of Robot Vision activity requirs a Moving platform with high mobility on translation as well as rotation movement. Omnidirectional vehicle reported here has optimum planar movement in the form translational movement on any direction as well as turning radius from zero to infinity, therefore it is suitable as a moving platform for research activities on 2 dimensional Robot Vision. Testing and measurement on the accuracy of vehicle straight trajectory on different direction have been carried out. Some error compensation algorithm has been applied and some good results on reducing trajectory errors have been observed.

References

Kalmar-Nagy, Tamas dkk, "Near Optimal

Trajectory Generation and Control of an

Omnidirectional Vehicle" , Cornell Univerity, 8

April 2002.

Spenko, Mathew dkk, "Analysis and Design of an

Omnidirectional Platform for Operation on Non-

Ideal Floors" , MIT.

Published

2017-05-15

Issue

Section

Articles