PRECISE DEAD-RECKONING FOR MOBILE ROBOTS USING MULTIPLE OPTICAL MOUSE SENSORS

Daisuke SEKIMORI, Fumio MIYAZAKI

Abstract

In this paper, in order to develop an accurate localization for mobile robots, we propose a dead-reckoning system based on increments of the robot movements read directly from the floor using optical mouse sensors. The movements of two axes are measurable with an optical mouse sensor. Therefore, in order to calculate a robot’s deviation of position and orientation, it is necessary to attach two optical mouse sensors in the robot. However, it is also assumed that a sensor cannot read the movements correctly due to the condition of the floor, the shaking of the robot, etc. To solve this problem, we arrange multiple optical mouse sensors around the robot and compare sensor values. By selecting reliable sensor values, accurate dead-reckoning is realized. Finally, we verify the effectiveness of this algorithm through several experiments with an actual robot.

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Paper Citation


in Harvard Style

SEKIMORI D. and MIYAZAKI F. (2005). PRECISE DEAD-RECKONING FOR MOBILE ROBOTS USING MULTIPLE OPTICAL MOUSE SENSORS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 48-54. DOI: 10.5220/0001180300480054


in Bibtex Style

@conference{icinco05,
author={Daisuke SEKIMORI and Fumio MIYAZAKI},
title={PRECISE DEAD-RECKONING FOR MOBILE ROBOTS USING MULTIPLE OPTICAL MOUSE SENSORS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={48-54},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001180300480054},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PRECISE DEAD-RECKONING FOR MOBILE ROBOTS USING MULTIPLE OPTICAL MOUSE SENSORS
SN - 972-8865-30-9
AU - SEKIMORI D.
AU - MIYAZAKI F.
PY - 2005
SP - 48
EP - 54
DO - 10.5220/0001180300480054