Configuration and readhesion control for a mobile robot with external sensors

Yasutaka Umeda, Takahiro Yakoh

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Since a wheeled mobile robot is subject to non-holonomic constraints, the position and the configuration of the robot cannot be derived directly from only the rotation angle of its wheels. In other words, the position and the configuration of a mobile robot cannot be calculated correctly if its wheels skid. For the purpose of the position estimation of a mobile robot, some external sensors are used, in general. This paper uses position information from a position-sensitive detector camera that is a high-speed visual sensor to correct the errors that are due to skid and so on. Also, we estimate a skid of wheels by using its visual information. In this paper, we propose a control system that enables control of both the configuration of the robot and the skid of wheels simultaneously by including these estimated values in the control loop of a mobile manipulator.

Original languageEnglish
Pages (from-to)241-247
Number of pages7
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - 2002 Feb


  • Mobile robots
  • Nonholonomic constraints
  • Position-sensitive detector camera
  • Readhesion control
  • Wheel skid

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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