کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
696680 890344 2011 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Optimal location of mouse sensors on mobile robots for position sensing
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Optimal location of mouse sensors on mobile robots for position sensing
چکیده انگلیسی

Optical mouse sensors have been utilized recently to measure the position and orientation of a mobile robot. This work provides a systematic solution to the problem of locating NN optical mouse sensors on a mobile robot with the aim of increasing the quality of the position measurements. The developed analysis gives insights on how the selection of a particular configuration influences the estimation of the robot position, and it allows to compare the effectiveness of different configurations. The results are derived from the analysis of the singular values of a particular matrix obtained by solving the sensor kinematics problem. Moreover, given any mobile robot platform, an end-user procedure is provided to select the best location for NN optical mouse sensors on such a platform. The procedure consists of solving a feasible constrained optimization problem.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 47, Issue 10, October 2011, Pages 2267–2272
نویسندگان
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