대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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- Pages.145-146
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- 2007
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
- 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
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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