Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation

Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation

This paper presents the isotropic placement of multiple optical mice for the velocity estimation of a mobile robot. It is assumed that there can be positional restriction on the installation of optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an arr...

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Main Author: Sungbok Kim
Format: Article
Language:English
Published: SAGE Publishing 2014-06-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/58691
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spelling doaj-02b9d9df065a4919a7c4585f3b22f59e2020-11-25T03:42:55ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-06-011110.5772/5869110.5772_58691Isotropic Optical Mouse Placement for Mobile Robot Velocity EstimationSungbok Kim0 Department of Digital Information Engineering, Hankuk University of Foreign Studies, KoreaThis paper presents the isotropic placement of multiple optical mice for the velocity estimation of a mobile robot. It is assumed that there can be positional restriction on the installation of optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is obtained and the resulting Jacobian matrix is analysed symbolically. Second, the isotropic, anisotropic and singular optical mouse placements are identified, along with the corresponding characteristic lengths. Third, the least squares mobile robot velocity estimation from the noisy optical mouse velocity measurements is discussed. Finally, simulation results for several different placements of three optical mice are given.https://doi.org/10.5772/58691
collection DOAJ
language English
format Article
sources DOAJ
author Sungbok Kim
spellingShingle Sungbok Kim
Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation
International Journal of Advanced Robotic Systems
author_facet Sungbok Kim
author_sort Sungbok Kim
title Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation
title_short Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation
title_full Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation
title_fullStr Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation
title_full_unstemmed Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation
title_sort isotropic optical mouse placement for mobile robot velocity estimation
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2014-06-01
description This paper presents the isotropic placement of multiple optical mice for the velocity estimation of a mobile robot. It is assumed that there can be positional restriction on the installation of optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is obtained and the resulting Jacobian matrix is analysed symbolically. Second, the isotropic, anisotropic and singular optical mouse placements are identified, along with the corresponding characteristic lengths. Third, the least squares mobile robot velocity estimation from the noisy optical mouse velocity measurements is discussed. Finally, simulation results for several different placements of three optical mice are given.
url https://doi.org/10.5772/58691
work_keys_str_mv AT sungbokkim isotropicopticalmouseplacementformobilerobotvelocityestimation
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