DEAD RECKONING FOR MOBILE ROBOTS USING TWO OPTICAL MICE

Andrea Bonarini, Matteo Matteucci, Marcello Restelli

Abstract

In this paper, we present a dead reckoning procedure to support reliable odometry on mobile robot. It is based on a pair of optical mice rigidly connected to the robot body. The main advantages are that: 1) the measurement given by the mice is not subject to slipping, since they are independent from the traction wheels, nor to crawling, since they measure displacements in any direction, 2) this localization system is independent from the kinematics of the robot, 3) it is a low-cost solution. We present the mathematical model of the sensor, its implementation, and some empirical evaluations.

References

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Paper Citation


in Harvard Style

Bonarini A., Matteucci M. and Restelli M. (2004). DEAD RECKONING FOR MOBILE ROBOTS USING TWO OPTICAL MICE . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 87-94. DOI: 10.5220/0001143000870094


in Bibtex Style

@conference{icinco04,
author={Andrea Bonarini and Matteo Matteucci and Marcello Restelli},
title={DEAD RECKONING FOR MOBILE ROBOTS USING TWO OPTICAL MICE},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={87-94},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001143000870094},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DEAD RECKONING FOR MOBILE ROBOTS USING TWO OPTICAL MICE
SN - 972-8865-12-0
AU - Bonarini A.
AU - Matteucci M.
AU - Restelli M.
PY - 2004
SP - 87
EP - 94
DO - 10.5220/0001143000870094