This paper presents the robust velocity estimation of a mobile robot using a polygonal array of optical mice that are installed at the bottom of the mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived, from which the least squares estimation of a mobile robot velocity is obtained. Second, the least squares mobile robot velocity estimation is shown to be robust against measurement noises and partial malfunctions of optical mice. Third, in the presence of installation error, a practical method for optical mouse position calibration is devised. Finally, some experimental results are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation.
Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation
