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Authors: Daisuke SEKIMORI 1 and Fumio MIYAZAKI 2

Affiliations: 1 Akashi National College of Technology, Japan ; 2 Graduate School of Engineering Science, Osaka University, Japan

ISBN: 972-8865-30-9

Keyword(s): dead-reckoning, mobile robot, optical mouse sensor.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

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 several formats:
SEKIMORI D.; MIYAZAKI F. and (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

@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},
}

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

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