Robust Optical Odometry Using Three Optical Mice

3개의 광 마우스를 이용한 강건한 광학식 거리주행계

  • 김성복 (한국외국어대학교 전자정보공학부) ;
  • 김형기 (나래나노택(주) 기술연구소)
  • Published : 2006.08.01


This paper presents the robust mobile robot localization method exploiting redundant motion information acquired from three optical mice that are installed at the bottom of a mobile robot in a regular triangular form. First, we briefly introduce a low-cost optical motion sensor, HDNS-2000, and a commercial device driver development tools, WinDriver, to be used in this research. Second, we explain the basic principle of the mobile robot localization using the motion information from three optical mice, and propose the least squares based localization algorithm which is robust to the noisy measurement and partial malfunctioning of optical mice. Third, we describe the development of the experimental optical odometer using three PC optical mice and the user-friendly graphic monitoring program. Fourth, simulations and experiments are performed to demonstrate the validity of the proposed localization method and the operation of the developed optical odometer. Finally, along with the conclusion, we suggest some future work including the installation parameter calibration, the optical mouse remodelling, and the high-performance motion sensor adoption.


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