Traveling surface characteristics extraction equipment for optical mouse based mobile robot velocity estimation

Kim, Sungbok

doi:10.1109/isie.2014.6864796

Cited by 8 publications

(5 citation statements)

References 10 publications

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“…Finally, from (4) and (12), the velocity kinematics of the mobile robot traveling simulator can be obtained by [10,11] …”

Section: Velocity Kinematicsmentioning

confidence: 99%

“…The velocity estimation of a mobile robot using optical mice is free from inherent problems of typical sensors; however, it is highly sensitive to the type of a given traveling surface [7][8][9]. For robust velocity estimation of a mobile robot using optical mice, a mobile robot traveling simulator was first proposed in [10]. In the proposed mobile robot traveling simulator, a surface sample is made to rotate relative to stationary optical mice, instead of a mobile robot equipped with optical mice moving over a surface.…”

Section: Introductionmentioning

confidence: 99%

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Practical mobile robot traveling simulator using optical mice

Kim

2016

2016 IEEE 13th International Conference on Networking, Sensing, and Control (ICNSC)

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Fig. 1. The schematic diagram of the mobile robot traveling simulator using optical mice.Abstract-This paper presents the practical design of mobile traveling simulator using three optical mice along with the optimal parameter setting. The mobile robot traveling simulator makes a traveling surface sample to rotate relative to stationary optical mice. First, for structural simplicity and user convenience, the practical design of mobile robot traveling simulator is proposed, which allows 2 DOF traveling simulation of a 3 DOF mobile robot traveling over a plane. Second, the velocity kinematics of the mobile robot traveling simulator is formulated, in which the mobile robot traveling simulator generates the velocity measurements of optical mice for a mobile robot under simulation. Third, for a given velocity of a mobile robot under simulation, the optimal parameter setting of the mobile robot traveling simulator is described, which minimizes the discrepancy between the desired and actual velocity measurements of optical mice. Finally, simulation results are given to demonstrate that the 2 DOF proposed mobile robot traveling simulator can make near complete traveling simulation of a 3 DOF mobile robot.

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“…Finally, from (4) and (12), the velocity kinematics of the mobile robot traveling simulator can be obtained by [10,11] …”

Section: Velocity Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Practical mobile robot traveling simulator using optical mice

Kim

2016

2016 IEEE 13th International Conference on Networking, Sensing, and Control (ICNSC)

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“…In In the first design shown in Fig. 2(b), the installation distances of three optical mice are fixed as P I = P 2 = P3 = P [7]. Since the first design provides four controllable parameters, including W m and 1/;i' i = 1 , 2 , 3, only I DOF traveling simulation of a mobile robot can be made.…”

Section: Three Designsmentioning

confidence: 99%

“…Note that the magnitude of Vi' i = 1 , 2 , (2) and (9), the velocity kinematics of the mobile robot traveling simulator can be obtained by [7] (10)…”

Section: Velocity Kinematicsmentioning

confidence: 99%

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Three designs of mobile robot traveling simulator using optical mice

Kim

Lee

2015

2015 15th International Conference on Control, Automation and Systems (ICCAS)

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This paper presents three different designs of mobile robot traveling simulator, targeting at a mobile robot equipped with three optical mice at the bottom. Tn the mobile robot traveling simulator, a traveling surface sample is made to rotate relative to stationary optical mice, enabling precise and repetitive traveling experiments at a minimal cost in space and time. For a given velocity of a mobile robot, the rotating speed of a traveling surface sample, the installation angles of three optical mice can be changed, and the installation positions of zero to two optical mice can changed, leading to 1 to 3 DOF mobile robot traveling simulator. Taking into account the discrepancy between the desired and actual velocity measurements of three optical mice, a cost function is defined for the optimal traveling simulation of a mobile robot. By minimizing the cost function, the optimal values of four to six controllable parameters are determined in two steps: 1) the optimal rotating speed and zero to two optimal installation positions, and 2) three optimal installation angles. Simulation results are given to compare the parameter setting of three different designs of mobile robot traveling simulator.

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Three DOF mobile robot traveling simulator using optical mice

Kim

2015

2015 10th Asian Control Conference (ASCC)

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Traveling surface characteristics extraction equipment for optical mouse based mobile robot velocity estimation

Cited by 8 publications

References 10 publications

Practical mobile robot traveling simulator using optical mice

Practical mobile robot traveling simulator using optical mice

Three designs of mobile robot traveling simulator using optical mice

Three DOF mobile robot traveling simulator using optical mice

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