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
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.