DEAD RECKONING FOR MOBILE ROBOTS USING TWO OPTICAL MICE

摘要

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.