Optimal location of mouse sensors on mobile robots for position sensing Academic Article

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 N 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 N optical mouse sensors on such a platform. The procedure consists of solving a feasible constrained optimization problem. 2011 Elsevier Ltd. All rights reserved.

authors

• Pagilla, Prabhakar

published proceedings

• AUTOMATICA

author list (cited authors)

• Cimino, M., & Pagilla, P. R.

citation count

• 18

complete list of authors

• Cimino, Mauro||Pagilla, Prabhakar R

publication date

• October 2011

publisher

• Elsevier  Publisher

published in

• Automatica  Journal

keywords

• Mobile Robots
• Odometry
• Optical Mouse Sensor
• Optimization

Digital Object Identifier (DOI)

• 10.1016/j.automatica.2011.08.004

start page

• 2267

end page

• 2272

volume

• 47

issue

• 10

URL

• http://dx.doi.org/10.1016/j.automatica.2011.08.004