광 마우스 기반 주행 표면 특성 시험 장치의 분석 및 구현

다국어 초록 (Multilingual Abstract)

This paper presents the analysis and implementation of traveling surface characteristics test equipment using optical mice in connection with the velocity estimation of a mobile robot equipped with optical mice. In the traveling surface characteristics test equipment, a traveling surface sample is made to rotate toward stationary optical mice instead of a mobile robot equipped with optical mice moving over a traveling surface. First, the conceptual design and operational principle of the traveling surface characteristics test equipment is explained. Second, the velocity kinematics of the traveling surface characteristics test equipment is formulated; based on this, the parameter setting of the traveling surface characteristics test equipment is described. Third, the implementation of the traveling surface characteristics test equipment is described in detail, including the mechanical design and construction and the hardware and software development. Fourth, using the prototype of the traveling surface characteristics test equipment, the experimental results of the statistical parameter extraction for different traveling surface samples are given. Finally, some potential usages of the traveling surface characteristics test equipment are discussed.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 동작 원리
• Ⅲ. 속도 기구학
• Ⅳ. 파라미터 설정
• Ⅴ. 기구부 제작
• Ⅵ. 하드웨어 및 소프트웨어 개발
• Ⅶ. 실험 결과
• Ⅷ. 검토
• Ⅸ. 결론
• REFERENCES

참고문헌 (Reference)

1 박정민, "언센티드 칼만/FIR 하이브리드 필터를 이용한 실내 위치 추정" 제어·로봇·시스템학회 21 (21): 1057-1063, 2015

2 "http://www.st.com/stm32/"

3 "http://www.pixart.com.tw/"

4 "http://dnj.co.kr/"

5 J. Borenstein, "Where am I? Sensors and Methods for Mobile Robot Positioning" Dept. Mechanical Eng., Michigan University 1996

6 S. Kim, "Traveling surface characteristics extraction equipment for optical mouse based mobile robot velocity estimation" 1268-1273, 2014

7 J. Palacin, "The optical mouse for indoor mobile robot odometry measurement" 126 : 141-147, 2006

8 T. W. Ng, "The optical mouse as a two-dimensional displacement sensor" 107 : 21-25, 2003

9 김성복, "Robust Velocity Estimation of an Omnidirectional Mobile Robot Using a Polygonal Array of Optical Mice" 제어·로봇·시스템학회 6 (6): 713-721, 2008

10 D. Sekimori, "Precise dead-reckoning for mobile robots using multiple optical mouse sensors" 145-151, 2007

11 F. Lewis, "Optimal Estimation" John Wiley & Sons 1986

12 Sooyong Lee, "Mobile Robot Localization Using Optical Flow Sensors" 제어·로봇·시스템학회 2 (2): 485-493, 2004

13 최승환, "EKF/UPF필터 변환을 통한 Multi-GPS/INS 융합 시스템의 실외 위치추정" 제어·로봇·시스템학회 20 (20): 1284-1289, 2014

14 S. Kim, "Development of traveling surface characteristics extraction equipment using optical mouse array" 1018-1022, 2014

15 J. Hu, "Calibration and on-line data selection of multiple optical flow sensors for odometry applications" 149 : 74-80, 2009

16 A. Bonarini, "A Kinematic-independent dead-reckoning sensor for indoor mobile robotics" 3750-3755, 2004