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.

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.

This paper presents the optimal overlapping arrangement of a circular array of ultrasonic sensors for minimal positional uncertainty in obstacle detection. First, it is shown that beam overlap among three adjacent ultrasonic sensors leads to significant reduction of positional uncertainty. Second, the positional uncertainty of an overlapped ultrasonic sensor ring is compared to a single ultrasonic sensor in terms of a collision-free region with obstacles. Third, the optimal design index for an overlapped ultrasonic sensor ring is defined as the area closest between the non-overlapped and overlapped sensing sub-zones. Fourth, using commercial low directivity ultrasonic sensors, an optimally overlapped ultrasonic sensor ring is given along with its prototype installed on top of a mobile robot. Finally, experimental results are given to demonstrate the validity and performance of our overlapped ultrasonic sensor ring prototype.

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