Abstract
Vehicles with active-caster wheels which are a kind of omnidirectional mechanism using normal pneumatic tires can move arbitrary directions immediately and can move freely from noise and vibrations. The control of vehicles with active casters, however, is not enough studied. This study aims to establish a control method of vehicles with active casters with respect to high safety, using independent drive and steering of active caster vehicles. As a first step, this paper formulates a model of vehicles sideslips. Sideslips of usual nonholonomic vehicles are imitated using an omni-directional vehicle with active caster wheels.
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