Development of a Holonomic Omnidirectional Vehicle and an Accurate Guidance Method of the Vehicles.
Akihira Nishikawa, Mark J. West, Haruhiko Asada · Journal of the Robotics Society of Japan · 1995
A new design of holonomic omnidirectional vehicle and a laser guidance technique for the vehicles are presented.The holonomic mechanism allows the vehicle to maneuver in an arbitrary direction from an arbitrary configuration on a plane.This significantly simplifies control problems and improves positioning accuracy.A fundamental method of obtaining omnidirectional motion with holonomic constraints on the floor, using a mechanism with spherical tires, is described.Each vehicle can be viewed as an XYĮ positioning table with an infinite workspace .For accurate guidance and positioning, a laser guidance technique is developed.A prototype system is designed, built and tested.Upon experiments, omnidirectional motion of the vehicle and the effectiveness of the guidance method were confirmed.