A kinematic-independent dead-reckoning sensor for indoor mobile robotics

  title={A kinematic-independent dead-reckoning sensor for indoor mobile robotics},
  author={Andrea Bonarini and Matteo Matteucci and Marcello Restelli},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  pages={3750-3755 vol.4}
In this paper, we present a dead reckoning sensor to support reliable odometry on mobile robots. This sensor is based on a pair of optical mice rigidly connected to the robot body and its main advantages are 1) this localization system is independent from the kinematics of the robot, 2) the measurement given by the mice is not subject to slipping, since they are independent from the traction wheels, nor to crawling, since they measure displacements in any direction 3) it is a low-cost solution… CONTINUE READING
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