Two wheels caster type odometer for omni-directional vehicles

  title={Two wheels caster type odometer for omni-directional vehicles},
  author={Nobuhiro Ushimi and Motoji Yamamoto and Akira Mohri},
This paper proposes a new type of two wheels caster type odometer to estimate the current position and orientation of omni-directional vehicles. The proposed odometer is composed of two passive wheels and one passive rotational axis. The two wheels rotate independently, and t h e rctational axis changes odometer’s orientation as an omni-directional vehicle moves. Angular velocities of the two wheels and rotational axis are measured by three rotary encoders using a gear train. A mechanism of the… CONTINUE READING