Article ID Journal Published Year Pages File Type
696680 Automatica 2011 6 Pages PDF
Abstract

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.

Related Topics
Physical Sciences and Engineering Engineering Control and Systems Engineering
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