Systematic robustness analysis of least squares mobile robot velocity estimation using a regular polygonal optical mouse array

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a 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 the mobile robot velocity is obtained as the simple average of the optical mouse velocity readings. Second, it is shown that a redundant number of optical mice contributes to the robustness of the least squares mobile robot velocity estimation against both measurement noises and partial malfunction of optical mice. Third, the sensitivity analysis of the least squares mobile robot velocity estimation to imprecise installation of optical mice is made, from which a practical method of optical mouse position calibration is devised. Finally, some experimental results using commercial optical mice are given to demonstrate the validity and performance of the proposed mobile robot velocity estimation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society