Optimal path planning with holonomic mobile robot using localization vision sensors

Abstract

Most of the present drive systems of the home service robots and the industrial robots use non-holonomic systems that function only when the robots are moving. For instance, the average vehicle can only be steered when driving so instant movement in all directions is not possible. And that is why the holonomic drive system is attracting attention. In this paper, we propose a holonomic system using three omni-direction wheels to enable instant movement in all directions. Also, IR-projector and vision sensors are proposed for autodrive robots to detect the robot's positioning. This system uses an infrared ray projector which processes the image reflected from the infrared reflector installed on the ceiling to detect the absolute position and direction angle of the robot in real time. Robot autodrive using vision sensors is also proposed.