Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimal Optical Mouse Array for High Performance Mobile Robot Velocity Estimation

이동로봇 속도 추정 성능 향상을 위한 광 마우스의 최적 배열

  • Kim, Sungbok (Dept. of Digital Information Eng., Hankuk University of Foreign Studies) ;
  • Kim, Hyunbin (Dept. of Digital Information Eng., Hankuk University of Foreign Studies)
  • 김성복 (한국외국어대학교 디지털정보공학과) ;
  • 김현빈 (한국외국어대학교 디지털정보공학과)
  • Received : 2012.09.17
  • Accepted : 2013.04.26
  • Published : 2013.06.01
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Abstract

This paper presents the optimal array of optical mice for the accurate velocity estimation of a mobile robot. It is assumed that there can be some restriction on the installation of two or more optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is derived, which maps the velocity of a mobile robot to the velocities of optical mice. Second, taking into account the consistency in physical units, the uncertainty ellipsoid is obtained to represent the error characteristics of the mobile robot velocity estimation owing to noisy optical mouse measurements. Third, a simple but effective performance index is defined as the inverse of the volume of the uncertainty ellipsoid, which can be used for the optimization of the optimal optical mouse placement. Fourth, simulation results for the optimal placement of three optical mice within a given elliptical region are given.

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References

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