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Author: Sungbok Kim

Affiliation: Hankuk University of Foreign Studies, Korea, Republic of

ISBN: 978-989-8565-71-6

ISSN: 2184-2809

Keyword(s): Optical Mice, Mobile Robot, Velocity Estimation, Isotropic Placement, Optimal Characteristic Length.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper presents the isotropic analysis of an optical mouse array for the velocity estimation of a mobile robot. It is assumed that there can be positional restriction on the installation of optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is obtained, and the resulting Jacobian matrix is analyzed symbolically. Second, the isotropic, anisotropic, and singular optical mouse placements are identified, along with the corresponding characteristic lengths. Third, the least squares mobile robot velocity estimation from the noisy optical mouse velocity measurements is discussed. Finally, simulation results for the isotropic placement of three optical mice are given.

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Paper citation in several formats:
Kim, S. (2013). Isotropy Analysis of Optical Mouse Array for Mobile Robot Velocity Estimation.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-71-6, ISSN 2184-2809, pages 169-176. DOI: 10.5220/0004435401690176

@conference{icinco13,
author={Sungbok Kim.},
title={Isotropy Analysis of Optical Mouse Array for Mobile Robot Velocity Estimation},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={169-176},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004435401690176},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Isotropy Analysis of Optical Mouse Array for Mobile Robot Velocity Estimation
SN - 978-989-8565-71-6
AU - Kim, S.
PY - 2013
SP - 169
EP - 176
DO - 10.5220/0004435401690176

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