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Mobile robot traveling simulation using optical mice in the presence of installation restrictions | IEEE Conference Publication | IEEE Xplore

Mobile robot traveling simulation using optical mice in the presence of installation restrictions


Abstract:

This paper presents the mobile robot traveling simulation using optical mice in the presence of the installation restrictions. By rotating a traveling surface sample rela...Show More

Abstract:

This paper presents the mobile robot traveling simulation using optical mice in the presence of the installation restrictions. By rotating a traveling surface sample relatively to stationary optical mice, the mobile robot traveling simulator can generate the measurements of optical mice as close as possible to the measurements of optical mice of a mobile robot. Two restrictions are imposed on the installation of optical mice: 1) each optical mouse is pre-specified to have either variable or fixed installation distance, for structural simplicity, and 2) the allowable range of the installation distance is bounded by the lower and upper limits, owing to space limitation. First, based on the kinematic model, the cost function is defined as the discrepancy of the commanded and simulated measurements of optical mice, and the nominal values of the installation distances required for a complete traveling simulation are computed. Second, three simple but effective operations are proposed, which are applied to the nominal values of the installation distances: the clipping operation to comply the space limitation, the selection operation to minimize the cost function, and the reordering operation to meet the pre-specification. Third, for 1 DOF to 3 DOF designs of the mobile robot traveling simulator, simulation results are given to show the changes of the installation distances throughout three operations, along with and the associated net costs.
Date of Conference: 27-29 March 2018
Date Added to IEEE Xplore: 21 May 2018
ISBN Information:
Conference Location: Zhuhai, China

References

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