Robust Mobile Robot Velocity Estimation Using Redundant Number of Optical Mice

摘要：

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a polygonal array of optical mice that are installed at the bottom of a mobile robot.First,the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system.Second,the velocity of a mobile robot is estimated by the least squares solution,which is shown to the same as the simple average of the velocity measurements from optical mice.Third,the redundant number of optical mice is shown to contribute to the robustness of the proposed velocity estimation method against both measurement noises and partial malfunctions.Finally,experimental results are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation scheme.

作者: Sungbok Kim Sanghyup Lee

作者单位: Department of Digital Information Engineering Hankuk University of Foreign Studies Yongin-si,Kyounggi-do,449-791,KOREA

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 107-112

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）