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Unread 10-01-2017, 11:58
StevenB StevenB is offline
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Re: Optical mouse for mecanum Odometry?

Six years ago I wrote a paper on using optical mice for robot odometry, and as far as I know it's still the most comprehensive review of this topic. While we built a system that worked fairly well for our senior design project, I don't recommend mice for FRC. For one thing, acquiring mice that you can easily interface with and building an appropriate lighting and lens system is a bit tricky (although I'm happy to help if you want to try). The mice often have huge errors in their measurements, because the readings are highly dependent on the surface quality, illumination, distance to the surface, and focus of the lens. For example, while the measurements may be repeatable on carpet, you'll get very different results on the gaffer's tape delineating the various zones on the field. In our system, we did a least-squares fit with six mouse sensors to estimate the position and orientation of the robot.

I've attached my paper if you'd like to read more.
Attached Files
File Type: pdf paper_stevenbell_18mar11.pdf (1.03 MB, 14 views)
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