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JRM Vol.29 No.5 pp. 887-894
doi: 10.20965/jrm.2017.p0887
(2017)

Paper:

Development and Performance Evaluation of Planar Travel Distance Sensors for Mobile Robots in Sandy Terrain

Arata Yanagisawa and Genya Ishigami

Keio University
3-14-1 Hiyoshi, Kohoku, Yokohama, Kanagawa 223-8522, Japan

Received:
March 20, 2017
Accepted:
July 26, 2017
Published:
October 20, 2017
Keywords:
localization, mobile robot, optical flow sensor, sandy terrain
Abstract
Development and Performance Evaluation of Planar Travel Distance Sensors for Mobile Robots in Sandy Terrain

Planar travel distance sensors for mobile robots

A planar travel distance sensor (two-dimensional sensor) was developed for a mobile robot in sandy terrain. The sensor system uses an optical flow device integrated into a small module with a simple configuration. The system achieves a high sampling rate on the order of milliseconds as well as precise measurement on a sub-millimeter order. Its performance was evaluated experimentally for measurement accuracy and repeatability, velocity response, robustness at varied heights with respect to terrain, and terrain surface characteristics. The experimental results confirm that the two-dimensional sensor system is accurate, having an error of distance traveled of less than a few percent, and that it possesses a wide dynamic range for the robot’s traveling velocity. This paper also discusses the applicability of the two-dimensional sensor for practical scenarios on the basis of the experimental findings.

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Last updated on Dec. 12, 2017