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

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 measurem...