Possible improvement of the operation of vehicles driven by omnidirectional wheels

József K. Tar, János F. Bitó, István Gergely, László Nádai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Special Automatic Guided Vehicles (AGVs) equipped with at least three omnidirectional wheels may be very useful tools in industrial applications because-in contrast to the Ackerman engines-their position and orientation with respect to the plane of operation can simultaneously be prescribed. So they have the ability for smart and precise navigation in a crowded environment. In the present constructions each wheel can move in arbitrary direction but cannot exert contact force in arbitrary direction in the plane since normally only the big wheels have driving system. The small ones can roll like the wheels of the roller-skates. It will be shown via numerical simulations that this solution requires considerable power consumption since in the turning/rotating phase of the motion the wheels have to work "against each other". To improve this situation a simple solution is outlined that could make it possible to realize coordinated driving of the small wheels, too. Via simulations it is pointed out that simultaneous driving of the big and small wheels could considerably reduce the power consumption of such devices that is a significant factor if the vehicles have to carry their power sources of limited capacity, too. In the simulations the effects of imprecise model parameters are compensated by simple adaptive fixed point transformations developed at Budapest Tech.

Original languageEnglish
Title of host publicationISCIII '09 - 4th International Symposium on Computational Intelligence and Intelligent Informatics, Proceedings
Pages63-68
Number of pages6
DOIs
Publication statusPublished - Dec 28 2009
EventISCIII '09 - 4th International Symposium on Computational Intelligence and Intelligent Informatics - Luxor, Egypt
Duration: Oct 21 2009Oct 25 2009

Publication series

NameISCIII '09 - 4th International Symposium on Computational Intelligence and Intelligent Informatics, Proceedings

Other

OtherISCIII '09 - 4th International Symposium on Computational Intelligence and Intelligent Informatics
CountryEgypt
CityLuxor
Period10/21/0910/25/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Information Systems
  • Software

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  • Cite this

    Tar, J. K., Bitó, J. F., Gergely, I., & Nádai, L. (2009). Possible improvement of the operation of vehicles driven by omnidirectional wheels. In ISCIII '09 - 4th International Symposium on Computational Intelligence and Intelligent Informatics, Proceedings (pp. 63-68). [5342279] (ISCIII '09 - 4th International Symposium on Computational Intelligence and Intelligent Informatics, Proceedings). https://doi.org/10.1109/ISCIII.2009.5342279