| Title |
A Study on an Omni-directional Mobile Robot for Moving a Double-parked Car |
| Authors |
윤경수(Kyung Su Yoon) ; 이명섭(Myung Sub Lee) ; 성영휘(Yount Whee Sung) |
| DOI |
http://doi.org/10.5370/KIEE.2018.67.3.440 |
| Keywords |
Omni-directional mobile robot ; Mecanum wheel ; Moving a double-parked car ; Obstacle avoidance ; Ultrasonic sensors |
| Abstract |
Double parking is very common in a parking lot where there is not sufficient parking space. When we double- park a car, we leave transmission gear in neutral position and release the emergency brake so that the double-parked car can be moved just by pushing it. However, moving a double-parked car by pushing is very hard and dangerous especially for the old and the weak. So, we propose an omni-directional mobile robot for moving a double-parked car easily and safely. The developed omni-directional mobile robot moves a double-parked car by rotating a wheel of a double-parked car. It has two specially designed rollers to rotate a wheel of a double-parked car and is designed so that the height of the robot is very low to be able to enter beneath a double-parked car. It can move a double-parked car safely by detecting obstacles in the way with five ultrasonic sensors. We verified by several experiments that the developed omni-directional mobile robot can be used to move a double-parked car easily and safely. |