Mobile Robot Localization Using Optical Flow Sensors
Mobile Robot Localization Using Optical Flow Sensors
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DOI：
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发表时间：
2004-12
影响因子：
3.2
通讯作者：
Sooyong Lee;Jae-Bok Song
中科院分区：
文献类型：
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作者：
Sooyong Lee;Jae-Bok Song
开环位置估计方法通常用于移动的机器人应用中。它们的优点在于确定估计位置的速度和简单性。然而，这些方法可能导致不准确或不可靠的估计。本文提出了两种位置估计方法，一种使用单个光学流量传感器，第二种使用两个光学传感器。第一种方法可以在理想条件下以及当车轮发生垂直于车轮轴线的滑移时精确地估计位置。第二种方法可以精确地估计位置，即使当车轮滑移平行于车轮的轴线发生。传感器的位置进行调查，以尽量减少不准确的传感器读数所造成的错误。最后，使用基于势场的导航方案来实现和测试方法。估计的位置被认为是准确的航位推算在理想的条件下，更准确的情况下，发生车轮打滑。
Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs. The second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, a method is implemented and tested using a potential field based navigation scheme. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.