Authors:
Andrea Bonarini
1
;
Matteo Matteucci
1
and
Marcello Restelli
2
Affiliations:
1
Politecnico di Milano, Italy
;
2
Politecnico Di Milano, Italy
Keyword(s):
Optical sensors, dead redoking, cinematic independent odometry.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
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.