Mobile robot localization using optical mice

Sooyong Lee
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引用次数: 38

Abstract

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and when wheel slip perpendicular to the axis of the wheel occurs. A second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, the method is implemented and tested using a mobile robot with sensors. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.
基于光学鼠标的移动机器人定位
开环位置估计方法是移动机器人中常用的一种方法。它们的优势在于确定估计位置的速度和简单性。然而,这些方法可能导致不准确或不可靠的估计。本文提出了两种位置估计方法,一种是使用单个光流传感器,另一种是使用两个光流传感器。第一种方法在理想条件下和发生垂直于车轮轴线的轮滑时能够准确地估计出位置。第二种方法可以准确地估计位置,即使发生平行于车轮轴的车轮滑移。研究了传感器的位置,以尽量减少由不准确的传感器读数引起的误差。最后,利用带传感器的移动机器人对该方法进行了实现和测试。在理想条件下,位置估计与航位推算一样准确,而在发生车轮打滑的情况下则更为准确。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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