Usage of an Optical Flow Sensor in Robotics to Define Orientation
In autonomous robotic control it is necessary to measure the exact tracks of the robot and then calculate the best route for it. This article is about to introduce a method which can be used to measure the route of an Unmanned Ground Vehicle to help the controller software to guide the vehicle. For now, the most popular way to measure and track of a vehicle or a robot’s movement is the incremental or absolute encoder installed on the vehicle’s wheels. This method measures movement in an indirect way because there can be gear system on its motor or in omnidirectional systems, there can be a slip between the wheel and the ground so the data of these sensors could be easily tampered. With this method we install an optical flow sensor (or sensors) to the undercarriage of the robot. This way the system measures the movement in a fully direct way because the sensors detect the movement between the robot and the ground and there is no mechanical or electrical connection between the sensor and the reference.
This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No 691942. This research was partially carried out in the framework of the Center of Excellence of Mechatronics and Logistics at the University of Miskolc.
- 1.Németh J, Illés B (2015) Determination of the ratio of centripetal forces in the friction drive used at more places. XXIX. In: microCAD international multidisciplinary scientific conference, University of Miskolc, Miskolc (in Hungarian)Google Scholar
- 2.Centeye (2013) [Online] http://www.centeye.com/technology/optical-flow/
- 3.Sorensen DK (2004) Texas A&M University, on-line optical flow feedback for mobile robot localization/navigationGoogle Scholar
- 4.Sekimori D, Miyazaki F (2007) Precise dead-reckoning for mobile robots using multiple optical mouse sensors. Informatics in control, automation and robotics II. Springer, pp 145–151Google Scholar
- 6.Avago, ADNS-3080 Datasheet (2007)Google Scholar
- 7.Bell S (2011) High-precision robot odometry using an array of optical miceGoogle Scholar