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http://dx.doi.org/10.5302/J.ICROS.2013.12.1826

Optimal Optical Mouse Array for High Performance Mobile Robot Velocity Estimation  

Kim, Sungbok (Dept. of Digital Information Eng., Hankuk University of Foreign Studies)
Kim, Hyunbin (Dept. of Digital Information Eng., Hankuk University of Foreign Studies)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.6, 2013 , pp. 555-562 More about this Journal
Abstract
This paper presents the optimal array of optical mice for the accurate velocity estimation of a mobile robot. It is assumed that there can be some restriction on the installation of two or more optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is derived, which maps the velocity of a mobile robot to the velocities of optical mice. Second, taking into account the consistency in physical units, the uncertainty ellipsoid is obtained to represent the error characteristics of the mobile robot velocity estimation owing to noisy optical mouse measurements. Third, a simple but effective performance index is defined as the inverse of the volume of the uncertainty ellipsoid, which can be used for the optimization of the optimal optical mouse placement. Fourth, simulation results for the optimal placement of three optical mice within a given elliptical region are given.
Keywords
optical mice; mobile robot; velocity estimation; uncertainty ellipsoid; optimal placement;
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Times Cited By KSCI : 2  (Citation Analysis)
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