A kinematic-independent dead-reckoning sensor for indoor mobile robotics

• Published in: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings Vol. 4; pp. 3750 - 3755 vol.4
• Main Authors: Bonarini, A., Matteucci, M., Restelli, M.
• Format: Conference Proceeding
• Language: English
• Published: Piscataway NJ IEEE 2004
• Subjects: Applied sciences; Computer science; control theory; systems; Control theory. Systems; Dead reckoning; Displacement measurement; Exact sciences and technology; Kinematics; Mice; Mobile robots; Optical sensors; Robot sensing systems; Robotics; Sensor systems; Shafts; Wheels; Wheel; Dead reckoning; Moving robot; Measurement sensor; Odometer; Experimental study; Traction; Modeling; Robotics; Robot kinematics; Indoor installation; Shaft; Position measurement; Distance measurement; Comparative study
• ISBN: 9780780384637; 0780384636
• DOI: 10.1109/IROS.2004.1389998

In this paper, we present a dead reckoning sensor to support reliable odometry on mobile robots. This sensor is based on a pair of optical mice rigidly connected to the robot body and its main advantages are 1) this localization system is independent from the kinematics of the robot, 2) the measurement given by the mice is not subject to slipping, since they are independent from the traction wheels, nor to crawling, since they measure displacements in any direction 3) it is a low-cost solution with a precision comparable to classical shaft encoders. We present the mathematical model of the sensor, its implementation, and some experimental evaluations using the standard UMBmark benchmark for odometry.