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

2011 ◽  
Vol 14 (2) ◽  
pp. 348-358 ◽  
Author(s):  
Sungbok Kim ◽  
Hyunbin Kim
Keyword(s):  
Mobile Robot ◽  
Least Squares ◽  
Robustness Analysis ◽  
Velocity Estimation ◽  
Optical Mouse

ROBUST MOBILE ROBOT VELOCITY ESTIMATION USING A POLYGONAL ARRAY OF OPTICAL MICE

2008 ◽  
Vol 05 (04) ◽  
pp. 321-330 ◽  
Author(s):  
SUNGBOK KIM ◽  
SANGHYUP LEE
Keyword(s):  
Mobile Robot ◽  
Least Squares ◽  
Practical Method ◽  
Least Squares Estimation ◽  
Velocity Estimation ◽  
Experimental Results ◽  
Measurement Noises ◽  
Position Calibration ◽  
And Performance ◽  
Optical Mouse

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.

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