Design and development of an optical dead reckoning system for robotics surface navigation

Dead reckoning systems are used for navigation of surface robots and these systems commonly rely on conventional odometry such as an encoder counting a number of wheel rotation. This simplicity makes dead reckoning both robust and economic when compared with other navigation systems based, for example, on inertial, landmark recognition or range finding techniques. However, errors can be introduced into dead reckoning systems through wheel slippage or skidding and through manufacturing imperfections of the wheels themselves. These problems of inaccuracy resulting from the use of conventional odometry have been addressed through the design of an optical dead reckoning system for robotic surface navigation. The optical computer mouse has previously been utilised in odometry systems but this has been further developed in an optical dead reckoning system. The use of an optical mouse in a non-contact, dead reckoning system for operation over rough surfaces has been investigated through a number of prototype developments. Systems based on coaxial optical arrangements and telecentric lens technology have been designed and tested. A case study has then been carried out into the application of a telecentric-based optical arrangement for the navigation of an underwater crawling ship hull robot. The prototype units and the case study have demonstrated the suitability of the optical mouse sensor for use in a non-contact odometry system suitable for use over uneven surface profiles.EThOS - Electronic Theses Online ServiceGBUnited Kingdo