Robust Mobile Robot Velocity Estimation Using a Polygonal Array of Optical Mice

Abstract

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.

Mobile Robot Localization Using Optical Mouse Sensor and Encoder Based on Kalman Filter Algorithm

“…However, the proposed algorithm is able to estimate the coordinates of the robot with an insufficient number of the sensors because it utilizes the encoder sensors of the driving motor as well as the optical mouse sensors. Here, it is assumed that the robot has only one optical mouse sensor at 2 C and the measured data from the sensor is 2, 2,…”

“…The optical mouse sensor is a type of image sensor capable of measuring displacement in a small time interval, and outputting velocity data based on the displacement measurement. Kim et al investigated the optimal configuration of the multiple optical mouse sensors for estimating the velocity of a mobile robot [2][3]. They showed that a regular polygonal array of multiple optical sensors is an optimal configuration for velocity estimation of a mobile robot, in the sense of the least squared errors.…”

“…The proposed localization algorithm for estimating a mobile robot's coordinates has an augmented state to avoid the additional integration process. This paper is organized as follows: In Section II, the dead reckoning estimation of robot motion is briefly explained using multiple optical mouse sensors [2]. Furthermore, the motion estimation with the encoder sensors of driving wheels is addressed in this section.…”

Practical mobile robot traveling simulator using optical mice

“…Several efforts have been made to estimate the velocity of a mobile robot using two or more optical mice installed at the bottom of a mobile robot [1][2][3][4][5][6]. The velocity estimation of a mobile robot using optical mice is free from inherent problems of typical sensors; however, it is highly sensitive to the type of a given traveling surface [7][8][9].…”

Robust stabilization of a wheeled vehicle: Hybrid feedback control design and experimental validation

“…The control problems of wheeled vehicles have been intensively studied in recent years and many control problems have been conducted [1][2][3][4][5][6][7][8][9]. One of the control problems of the autonomous wheeled vehicle is the ability to perform point to point motion (stabilization) where a desired goal configuration must be reached starting from a given initial configuration [10][11][12][13][14][15].…”