이동로봇 속도 추정 성능 향상을 위한 광 마우스의 최적 배열

다국어 초록 (Multilingual Abstract)

This paper presents the optimal array of optical mice for the accurate velocity estimation of a mobile robot. It is assumed that there can be some restriction on the installation of two or more optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is derived, which maps the velocity of a mobile robot to the velocities of optical mice. Second, taking into account the consistency in physical units, the uncertainty ellipsoid is obtained to represent the error characteristics of the mobile robot velocity estimation owing to noisy optical mouse measurements. Third, a simple but effective performance index is defined as the inverse of the volume of the uncertainty ellipsoid, which can be used for the optimization of the optimal optical mouse placement. Fourth, simulation results for the optimal placement of three optical mice within a given elliptical region are given.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 속도 기구학
• III. 불확실성 타원
• IV. 광 마우스 배치 최적화
• V. 시뮬레이션 결과
• VI. 결론
• REFERENCES

참고문헌 (Reference)

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2 D. Sekimori, "Self-localization for indoor mobile robots based on optical mouse sensor values and simple global camera information" 605-610, 2005

3 S. Lee, "Robust mobile robot localization using optical flow sensors and encoders" 1039-1044, 2005

4 김성복, "Robust Velocity Estimation of an Omnidirectional Mobile Robot Using a Polygonal Array of Optical Mice" 제어·로봇·시스템학회 6 (6): 713-721, 2008

5 S. Thrun, "Probabilistic Robotics" The MIT Press 2005

6 S. Kim, "Optimization strategy of optical mouse placement for mobile robot velocity estimation" 417-418, 2012

7 S. Baek, "Mobile robot localization based on consecutive range sensor scanning and optical flow measurements" 17-22, 2005

8 Sooyong Lee, "Mobile Robot Localization Using Optical Flow Sensors" 제어·로봇·시스템학회 2 (2): 485-493, 2004

9 M. Cimino, "Location of optical mouse sensors on mobile robots for odometry" 5429-5434, 2010

10 J. Hu, "Calibration and on-line data selection of multiple optical flow sensors for odometry applications" 149 : 74-80, 2009

11 A. Bonarini, "Automatic error detection and reduction for an odometric sensor based on two optical mice" 1687-1692, 2005

12 A. Bonarini, "A kinematic- independent dead-reckoning sensor for indoor mobile robotics" 3750-3755, 2004