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Abstract: 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.

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2012年1月1日 · In this paper, we propose a TwoWheels Caster (TW-Caster) type of odometer for the dead reckoning of the ODMR and the measurement of the driving wheel slip. The TW-Caster has characteristic omnidirectional motion.

This paper proposes a tracking control method for Omni-Directional Vehicles (ODVs) along desired trajectories using a new type of odometer, called a Two Wheels Caster Type (TWCT) odometer, specially designed for ODV dead-reckoning.

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Abstract: A feedback control method of Omni-Directional Vehicles (ODV) is proposed by using a caster type odometer. The odometer which is called the Two Wheels Caster Type Odometer (TWCTOdometer) is specially designed for ODVs. Driving wheels of typical ODVs are easy to slip.

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Therefore, to deal with such issues, a vision-based Omni-directional odometry based on multi-camera collaboration is proposed. The development of feature-based omnidirectional odometry and feature prioritization to limit the computational complexity offered by multiple cameras are major contributions.

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