Open document
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General information |
| Author |
Lee, Wei-chen; Cai, Cong-wei |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Without access to external guidance, such as
landmarks or beacons, indoor mobile robots usually
orientate themselves by using magnetic compasses or
gyroscopes. However, compasses face interference
from steel furniture, and gyroscopes suffer from zero
drift errors. This paper proposes an orientation sensor
that can be used on differentially driven mobile robots
to resolve these issues. The sensor innovatively
combines the general differentials and an optical
encoder so that it can provide only the orientation
information. Such a sensor has not been described in
any known literature and is cost‐efficient compared to
the common method of using two encoders for
differentially driven mobile robots. The kinematic
analysis and the mechanical design of this sensor are
presented in this paper. The maximum mean error of
the proposed orientation sensor was about 0.7 during
the component tests. The application of the sensor on a
vacuum cleaning robot was also demonstrated. The
use of the proposed sensor may provide less uncertain
orientation data for an indoor differentially driven
mobile robot. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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