Abstract
Self-localization is one of the important issues for mobile robots, and it is a big subject. Although the odometry information by a motor encoder is used for various mobile robots even now, whe when a wheel slips, there is a problem that an error arises in the amount of rotations of a wheel, and actual migration length. This research aims at development of a robust encoder to disturbance, such as a slip, by using a photo sensor as a non-contact type sensor.
