Estimation of Mobile Robot Pose from Optical Mouses

被引：0
|
作者：
Mudrova, Lenka [1 ]
Faigl, Jan [1 ]
Halgasik, Jaroslav [1 ]
Krajnik, Tomas [1 ]
机构：
[1] Czech Tech Univ, Fac Elect Engn, Dept Cybernet, Gerstner Lab Intelligent Decis Making & Control, Prague, Czech Republic
来源：
RESEARCH AND EDUCATION IN ROBOTICS: EUROBOT 2010 | 2011年 / 156卷
关键词：
D O I：
暂无
中图分类号：
G40 [教育学];
学科分类号：
040101 ; 120403 ;
摘要：
This paper describes a simple method of dead-reckoning based on off-the-shelf components: optical mouses and a laptop. The problem is formulated as finding a transformation of mouses positions to position of the robot. The formulation of the transformation is based on a method already used in range-based localization. Beside a solution of the transformation, the paper provides description of practical application of mouse based localization for a home made robot. The paper considers identification and mouse data reading procedures as well. The presented approach has been evaluated in several real experiments and the proposed localization provides competitive results to the odometry based on high-precision stepper motors.
引用
收藏
页码：93 / 107
页数：15
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