Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
We present a compact measurement module for estimating omnidirectional motion of a mobile robot. The module consists of an optical device with a laser to detect translation and a gyroscope to detect rotation. Laser speckle patterns are generated on a passage plane and tracked in the optical device. The translation estimated by the device is constant even in different heights from the passage plane. The zero drift in the gyroscope is automatically calibrated in case that motion is not detected by the optical device. We investigate the accuracy of the estimated translation in different internal parameters for the device. Additionally, we show estimated trajectories of a cart moving on a carpet.
