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- W2079600816 abstract "This paper describes an odometric system for autonomous microrobots based on the optical properties of a motor–wheel transmission for motion feedback. We demonstrate that infra-red light, reflected from this mechanical system, shows distinctive periodic changes of amplitude, correlated with the motion of the robot. Real-time odometric signal processing, performed on a small embedded microcontroller, allows accurate movement detection for each wheel and is used for motion control, self-calibration, and calculation of differential and absolute velocity, displacement and rotation. We demonstrate some applications of this on-board odometric system in swarm robot experiments. This approach can also be applied to other industrial or academic mechatronic systems, where size or computational power are limiting factors." @default.
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- W2079600816 date "2012-09-01" @default.
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- W2079600816 title "Encoder-free odometric system for autonomous microrobots" @default.
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- W2079600816 doi "https://doi.org/10.1016/j.mechatronics.2012.05.004" @default.
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