Optical Mouse Array Position Calibration for Mobile Robot Velocity Estimation

Sungbok Kim, Sanghyup Lee
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引用次数: 3

Abstract

This paper presents the position calibration of a polygonal array of optical mice for improved mobile robot velocity estimation using optical mice. First, the least squares velocity estimate of an omnidirectional mobile robot is obtained as the simple average of the velocity measurements from optical mice. Second, the sensitivity of the least squares velocity estimation to an imprecisely installed optical mouse array is analyzed. Third, with the aid of other accurate sensors, for example, wheel encoders, a simple but effective calibration for imperfect optical mouse array position is proposed. Finally, the position calibration of a regular triangular optical mouse array is given to demonstrate the effectiveness of the proposed method.
用于移动机器人速度估计的光学鼠标阵列位置标定
本文提出了一种多边形光学鼠标阵列的位置标定方法,用于改进光学鼠标对移动机器人速度的估计。首先,用光学鼠标测量速度的简单平均得到全向移动机器人的最小二乘速度估计;其次,分析了最小二乘速度估计对不精确安装的光学鼠标阵列的敏感性。第三,借助其他精确传感器,如轮式编码器,提出了一种简单有效的不完美光学鼠标阵列位置校准方法。最后,以正三角形光学鼠标阵列为例,验证了该方法的有效性。
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