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http://dx.doi.org/10.5302/J.ICROS.2007.13.10.978

Least Squares Velocity Estimation of a Mobile Robot Using a Regular Polygonal Array of Optical Mice  

Kim, Sung-Bok (한국외국어대학교 전자정보공학부)
Jeong, Il-Hwa (한국외국어대학교 전자정보공학부)
Lee, Sang-Hyup (한국외국어대학교 전자정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.10, 2007 , pp. 978-982 More about this Journal
Abstract
This paper presents the velocity estimation of a mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the basic principle of the proposed velocity estimation method is explained. Second, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Third, for a given set of optical mouse readings, the mobile robot velocity is estimated based on the least squares solution to the obtained system. Finally, simulation results are given to demonstrate the validity of the proposed velocity estimation method.
Keywords
mobile robot; velocity estimation; optical mouse; least squares estimation; robustness;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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