Automatic Error Detection and Reduction for an Odometric Sensor based on Two Optical Mice

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...

Full description

Saved in:
Bibliographic Details
Published inProceedings of the 2005 IEEE International Conference on Robotics and Automation pp. 1675 - 1680
Main Authors Bonarini, A., Matteucci, M., Restelli, M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Dead reckoning
Displacement measurement
Kinematics
Mice
Mobile robots
Optical sensors
Robot sensing systems
Robotics and automation
Sensor systems
Wheels
Online AccessGet full text

Cover

More Information
Summary: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. Since we have redundant measures it is possible to detect non-systematic errors; in this paper, an automatic procedure to reduce non-systematic errors of the sensor is presented and validated with experimental results on a real mobile robot.
ISBN:078038914X
9780780389144
ISSN:1050-4729
DOI:10.1109/ROBOT.2005.1570354