Mobile robot velocity estimation using an array of optical flow sensors

被引：0
|
作者：
Kim, Sungbok [1 ]
Jeong, Ilhwa [1 ]
Lee, Sanghyup [1 ]
机构：
[1] Hankuk Univ Foreign Studies, Dept Digital Informat Eng, Seoul, South Korea
来源：
2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6 | 2007年
关键词：
mobile robot; optical flow sensor; velocity estimation; least squares; robustness; sensitivity;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the velocity estimation of a mobile robot using a :regular polygonal array of optical flow sensors that are installed at the bottom of a mobile robot. First, the velocity kinematics from a mobile robot to an array of optical flow sensors is derived. Second, for a given set of optical flow sensor readings, the mobile robot velocity is estimated based on the least squares solution. Third, the robustness of the proposed method against random noise of optical flow sensors is analyzed. Fourth, the sensitivity of the proposed method to imprecise installation of optical flow sensors is analyzed. Finally, simulation results are given to demonstrate the validity of the proposed mobile robot localization.
引用
收藏
页码：2895 / 2900
页数：6
相关论文
共 50 条
  • [1] Mobile robot velocity estimation using a regular polygonal array of optical flow sensors
    Kim, Sungbok
    Jeong, Ilhwa
    Lee, Sanghyup
    [J]. ADVANCED INTELLIGENT COMPUTING THEORIES AND APPLICATIONS: WITH ASPECTS OF CONTEMPORARY INTELLIGENT COMPUTING TECHNIQUES, 2007, 2 : 641 - +
  • [2] Robust velocity estimation of an omnidirectional mobile robot using a polygonal array of optical mice
    Kim, Sungbok
    Lee, Sanghyup
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2008, 6 (05) : 713 - 721
  • [3] Optimal Optical Mouse Array for Accurate Mobile Robot Velocity Estimation
    Kim, Sungbok
    Kim, Hyunbin
    [J]. 2013 10TH IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC), 2013, : 83 - 88
  • [4] Optical Mouse Array Position Calibration for Mobile Robot Velocity Estimation
    Kim, Sungbok
    Lee, Sanghyup
    [J]. 2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, 2008, : 464 - 469
  • [5] Mobile robot localization using optical flow sensors
    Lee, SY
    Song, JB
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2004, 2 (04) : 485 - 493
  • [6] Scale-Invariant Isotropy of an Optical Mouse Array for Mobile Robot Velocity Estimation
    Kim, Sungbok
    Lim, Geunhyung
    Kim, Hyungjin
    [J]. 2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013), 2013, : 1229 - 1233
  • [7] Robust mobile robot localization using optical flow sensors and encoders
    Lee, SY
    Song, JB
    [J]. 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 1039 - 1044
  • [8] Velocity estimation of wheeled mobile robot with inner-sensors
    Song, Yi-Xu
    Tan, Da-Long
    [J]. Kongzhi Lilun Yu Yinyong/Control Theory and Applications, 2003, 20 (04):
  • [9] Robust Mobile Robot Velocity Estimation Using Redundant Number of Optical Mice
    Kim, Sungbok
    Lee, Sanghyup
    [J]. 2008 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-4, 2008, : 107 - 112
  • [10] SYSTEMATIC ROBUSTNESS ANALYSIS OF LEAST SQUARES MOBILE ROBOT VELOCITY ESTIMATION USING A REGULAR POLYGONAL OPTICAL MOUSE ARRAY
    Kim, Sungbok
    Kim, Hyunbin
    [J]. ASIAN JOURNAL OF CONTROL, 2012, 14 (02) : 348 - 358
12345