Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant

This paper presents the empirical evaluation of the path-tracking accuracy of a three-wheeled omnidirectional mobile robot that is able to move in any direction while simultaneously changing its orientation. The mobile robot assessed in this paper includes a precise onboard LIDAR for obstacle avoida...

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Autores principales:	Jordi Palacín, Elena Rubies, Eduard Clotet, David Martínez
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	omnidirectional mobile robot omnidirectional wheel path tracking kinematic model inverse kinematic model Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/d69518e87ead42d9ab8cabb841b25482
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spelling	oai:doaj.org-article:d69518e87ead42d9ab8cabb841b254822021-11-11T19:11:43ZEvaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant10.3390/s212172161424-8220https://doaj.org/article/d69518e87ead42d9ab8cabb841b254822021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7216https://doaj.org/toc/1424-8220This paper presents the empirical evaluation of the path-tracking accuracy of a three-wheeled omnidirectional mobile robot that is able to move in any direction while simultaneously changing its orientation. The mobile robot assessed in this paper includes a precise onboard LIDAR for obstacle avoidance, self-location and map creation, path-planning and path-tracking. This mobile robot has been used to develop several assistive services, but the accuracy of its path-tracking system has not been specifically evaluated until now. To this end, this paper describes the kinematics and path-planning procedure implemented in the mobile robot and empirically evaluates the accuracy of its path-tracking system that corrects the trajectory. In this paper, the information gathered by the LIDAR is registered to obtain the ground truth trajectory of the mobile robot in order to estimate the path-tracking accuracy of each experiment conducted. Circular and eight-shaped trajectories were assessed with different translational velocities. In general, the accuracy obtained in circular trajectories is within a short range, but the accuracy obtained in eight-shaped trajectories worsens as the velocity increases. In the case of the mobile robot moving at its nominal translational velocity, 0.3 m/s, the root mean square (RMS) displacement error was 0.032 m for the circular trajectory and 0.039 m for the eight-shaped trajectory; the absolute maximum displacement errors were 0.077 m and 0.088 m, with RMS errors in the angular orientation of 6.27° and 7.76°, respectively. Moreover, the external visual perception generated by these error levels is that the trajectory of the mobile robot is smooth, with a constant velocity and without perceiving trajectory corrections.Jordi PalacínElena RubiesEduard ClotetDavid MartínezMDPI AGarticleomnidirectional mobile robotomnidirectional wheelpath trackingkinematic modelinverse kinematic modelChemical technologyTP1-1185ENSensors, Vol 21, Iss 7216, p 7216 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	omnidirectional mobile robot omnidirectional wheel path tracking kinematic model inverse kinematic model Chemical technology TP1-1185
spellingShingle	omnidirectional mobile robot omnidirectional wheel path tracking kinematic model inverse kinematic model Chemical technology TP1-1185 Jordi Palacín Elena Rubies Eduard Clotet David Martínez Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant
description	This paper presents the empirical evaluation of the path-tracking accuracy of a three-wheeled omnidirectional mobile robot that is able to move in any direction while simultaneously changing its orientation. The mobile robot assessed in this paper includes a precise onboard LIDAR for obstacle avoidance, self-location and map creation, path-planning and path-tracking. This mobile robot has been used to develop several assistive services, but the accuracy of its path-tracking system has not been specifically evaluated until now. To this end, this paper describes the kinematics and path-planning procedure implemented in the mobile robot and empirically evaluates the accuracy of its path-tracking system that corrects the trajectory. In this paper, the information gathered by the LIDAR is registered to obtain the ground truth trajectory of the mobile robot in order to estimate the path-tracking accuracy of each experiment conducted. Circular and eight-shaped trajectories were assessed with different translational velocities. In general, the accuracy obtained in circular trajectories is within a short range, but the accuracy obtained in eight-shaped trajectories worsens as the velocity increases. In the case of the mobile robot moving at its nominal translational velocity, 0.3 m/s, the root mean square (RMS) displacement error was 0.032 m for the circular trajectory and 0.039 m for the eight-shaped trajectory; the absolute maximum displacement errors were 0.077 m and 0.088 m, with RMS errors in the angular orientation of 6.27° and 7.76°, respectively. Moreover, the external visual perception generated by these error levels is that the trajectory of the mobile robot is smooth, with a constant velocity and without perceiving trajectory corrections.
format	article
author	Jordi Palacín Elena Rubies Eduard Clotet David Martínez
author_facet	Jordi Palacín Elena Rubies Eduard Clotet David Martínez
author_sort	Jordi Palacín
title	Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant
title_short	Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant
title_full	Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant
title_fullStr	Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant
title_full_unstemmed	Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant
title_sort	evaluation of the path-tracking accuracy of a three-wheeled omnidirectional mobile robot designed as a personal assistant
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/d69518e87ead42d9ab8cabb841b25482
work_keys_str_mv	AT jordipalacin evaluationofthepathtrackingaccuracyofathreewheeledomnidirectionalmobilerobotdesignedasapersonalassistant AT elenarubies evaluationofthepathtrackingaccuracyofathreewheeledomnidirectionalmobilerobotdesignedasapersonalassistant AT eduardclotet evaluationofthepathtrackingaccuracyofathreewheeledomnidirectionalmobilerobotdesignedasapersonalassistant AT davidmartinez evaluationofthepathtrackingaccuracyofathreewheeledomnidirectionalmobilerobotdesignedasapersonalassistant
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Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant

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