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http://dx.doi.org/10.5302/J.ICROS.2006.12.9.861

Robust Optical Odometry Using Three Optical Mice  

Kim, Sung-Bok (한국외국어대학교 전자정보공학부)
Kim, Hyung-Gi (나래나노택(주) 기술연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.9, 2006 , pp. 861-867 More about this Journal
Abstract
This paper presents the robust mobile robot localization method exploiting redundant motion information acquired from three optical mice that are installed at the bottom of a mobile robot in a regular triangular form. First, we briefly introduce a low-cost optical motion sensor, HDNS-2000, and a commercial device driver development tools, WinDriver, to be used in this research. Second, we explain the basic principle of the mobile robot localization using the motion information from three optical mice, and propose the least squares based localization algorithm which is robust to the noisy measurement and partial malfunctioning of optical mice. Third, we describe the development of the experimental optical odometer using three PC optical mice and the user-friendly graphic monitoring program. Fourth, simulations and experiments are performed to demonstrate the validity of the proposed localization method and the operation of the developed optical odometer. Finally, along with the conclusion, we suggest some future work including the installation parameter calibration, the optical mouse remodelling, and the high-performance motion sensor adoption.
Keywords
mobile robot; localization; optical mouse; redundancy; robustness;
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