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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dong-Hoon Yi Tae-Jae Lee Dong-Il Cho |
| Copyright Year | 2015 |
| Description | Author affiliation: Dept. of Electr. & Comput. Eng., Seoul Nat. Univ., Seoul, South Korea (Dong-Hoon Yi; Tae-Jae Lee; Dong-Il Cho) |
| Abstract | This paper presents an application of an afocal optical flow sensor (AOFS) for mobile robot navigation. The OFS-based odometry is advantageous for mobile robots because it is not affected by wheel slippage. However, the changes in vertical height result in systematic errors when estimating the moving distance of robots moving on uneven surfaces. This paper presents an application of an AOFS module to improve this vertical-height sensitivity. To evaluate the proposed system performance, two kinds of experiments are performed: on a bare laminate floor and on the laminate floor that is partially covered with an area carpet. The test area is 150 cm × 150 cm size. For the bare laminate floor case where no slip occurs, the localization error of the developed system is 0.2%. The error using a conventional OFS module, encoders, and gyroscope combination is also 0.2%. For the case where the laminate floor is partially covered with an area carpet, the localization error of the developed system is 0.7%. The error using a conventional OFS module, encoders, and the gyroscope is 2.9%. |
| Starting Page | 1393 |
| Ending Page | 1397 |
| File Size | 791942 |
| Page Count | 5 |
| File Format | |
| ISSN | 20937121 |
| e-ISBN | 9788993215083 |
| DOI | 10.1109/ICCAS.2015.7364858 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-10-13 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Control, Robotics and Systems - ICROS |
| Subject Keyword | Optical filters height variation odometry Estimation Optical imaging Mice Optical sensors Laminates optical flow sensor Floors |
| Content Type | Text |
| Resource Type | Article |
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