Odometry of computer mice

Abstract

Sensors are vital components in an Autonomous Guided Vehicle (AGV) system. It enables the AGV to know its pose. This project intends to study the feasibility of making use computer mice to retrofit it to a robot’s pose sensor.

The report starts by reviewing the working principles of the computer mouse. This is where the flow of odometry process starts as the mouse gathers change in displacement information for processing.

It continues with reviews on several authors’ works and their approaches onto retrofitting computer mouse into the domain of odometry. With that, statements of specifications are listed down to serve as a guide for the fabrication of the odometer.

A mechatronics approach is taken to create the prototype odometer. It consists of four domains, namely strategy, mechanical fabrication, electrical circuit connections and coding of algorithms.

In the strategy section, the constraints of the mouse in relation to pose finding are first explained. With the aid of two mice and certain hypothesis, a methodology in obtaining global vehicular pose is deduced.

The mechanical aspect in fabrication of the odometer focuses on the creation of housing for the mice PCB and lasers. The electrical aspect focuses on circuit connections for data processing, powering and timing control.

The intelligence aspect translates methodology of pose finding strategy to control algorithms required for the microprocessor to output desired information. With these four domains, they are synergized to a mouse retrofitted odometer.

The end of this report will highlight experiments and findings of the workability of the odometer prototype. It concludes further recommendations for improvement in future developments.