대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

정다각형 배열 광마우스를 이용한 최소 자승 속도 추정법에 대한 민감도 분석

Sensitivity Analysis of Least Squares Velocity Estimation Using a Regular Polygonal Array of Optical Mice

  • 김성복 (한국외국어대학교 전자정보공학부) ;
  • 정일화 (한국외국어대학교 전자정보공학부) ;
  • 이상협 (한국외국어대학교 전자정보공학부)
  • Kim, Sung-Bok (School of Electronics and Information Engineering, Hankuk University of Foreign Studies) ;
  • Jeong, Il-Hwa (School of Electronics and Information Engineering, Hankuk University of Foreign Studies) ;
  • Lee, Sang-Hyup (School of Electronics and Information Engineering, Hankuk University of Foreign Studies)
  • 발행 : 2007.10.26
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초록

This paper presents the sensitivity analysis of the leasst qsuares velocity estimation of an omnidirectional mobile robot using a regular polygonal array of optical mice. First, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Then, for a given set of optical mouse readings, the least squares velocity estimation of a mobile robot is obtained as the simple average. Finally, the sensitivity analysis of the proposed least squares velocity estimation to imprecise installation is made.

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