Hamid Taheri

Bio: Hamid Taheri is an academic researcher. The author has contributed to research in topics: Mobile robot & Mecanum wheel. The author has an hindex of 1, co-authored 2 publications receiving 59 citations.

Kinematic Model of a Four Mecanum Wheeled Mobile Robot

Abstract: O. Diegel, A. Badve, G. Bright, J. Potgieter, and S. Tlale, "Improved Mecanum Wheel Design for Omni-directional Robots," no. November, pp. 27–29, 2002. I. Doroftei, V. Grosu, and V. Spinu, Omnidirectional Mobile Robot Design and Implementation, Bioinspiration and Robotics Walking and Climbing Robots, no. September. I-Tech, 2007. R. P. A. van Haendel, "Design of an omnidirectional universal mobile platform," National University of Singapore, 2005.

Geometric Landmark-based Pose Tracking for Holonomic Mobile Robots

Abstract: Wheeled Mobile Robot (WMR) navigation is subjected to noise that brings several factors of uncertainties in the robot’s motion positioning as well as pose tracking. The uncertainty in motion makes the robot’s pose-tracking to be a difficult task. Motion models have been designed to track the robot poses within trajectories based on the robot’s inertial velocitybased information or the odometry readings obtained from its wheel encoders. This paper introduces a holonomic motion model based on geometric relationships between a robot’s laser-scanner and the landmarks in the environment. The laser-scanner is attached to an Omnidirectional Mobile Robot (OMR) capable of holonomic drive and thus the observationbased motion-tracking approach can capture the trajectory obtained of holonomic motions as well. In this method, despite the pioneering methods, the pose information in the laser-base-frame is used instead of the robot’s inertial information. In this way, a different perspective of sensing is provided that can enhance the robot’s pose tracking task. The method can be used along with a common robot’s motion model to further reduce the uncertainties in motion. The experiment is conducted based on a KUKA Youbot equipped with a Hokuyo URG-04lx laser range scanner in its front that suggests that the method can successfully track the robot’s trajectory with a good level of consistency in restricted areas where the landmark distribution has covered the whole trajectory.

Experimental investigations of a highly maneuverable mobile omniwheel robot

Abstract: In this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to construct an algorithm for calculating control actions for trajectories char...

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation.

Abstract: In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.

Towards Automatic Robotic NDT Dense Mapping for Pipeline Integrity Inspection

Abstract: This paper addresses automated mapping of the remaining wall thickness of metallic pipelines in the field by means of an inspection robot equipped with Non-Destructive Testing (NDT) sensing. Set in the context of condition assessment of critical infrastructure, the integrity of arbitrary sections in the conduit is derived with a bespoke robot kinematic configuration that allows dense pipe wall thickness discrimination in circumferential and longitudinal direction via NDT sensing with guaranteed sensing lift-off (offset of the sensor from pipe wall) to the pipe wall, an essential barrier to overcome in cement-lined water pipelines. The data gathered represents not only a visual understanding of the condition of the pipe for asset managers, but also constitutes a quantative input to a remaining-life calculation that defines the likelihood of the pipeline for future renewal or repair. Results are presented from deployment of the robotic device on a series of pipeline inspections which demonstrate the feasibility of the device and sensing configuration to provide meaningful 2.5D geometric maps.