Noncontact position estimation device with optical sensor and laser sources for mobile robots traversing slippery terrains

Isaku Nagai, Keigo Watanabe, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

Abstract

This paper describes the development of a sensing device that can be used to estimate the position of mobile robots on slippery terrains. The device consists of an optical sensor designed for a computer mouse and dual laser light sources for generating a laser speckle pattern. It detects the motion of a moving surface at a large distance from the surface, from 80 mm to 300 mm, by tracking the laser speckle pattern. The use of dual laser light sources makes the tracking robust for both large distances from the ground and different surface materials. Some fundamental experiments validated the performance of the device, which tracked surfaces of different materials with high accuracy under various height conditions. Finally, the device was mounted on our mobile robot, and simple experiments were conducted on a slippery sandy terrain to evaluate the usefulness of the device as a noncontact odometry system.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3422-3427
Number of pages6
DOIs
Publication statusPublished - Dec 1 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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