On the Development of an Enhanced Optical Mouse Sensor for Odometry and Mobile Robotics Education

This paper focuses on the development of a sensing module, testing methodology and set of experiments for the use of an optical mouse chip as an odometer in mobile robotics, including in an educational setting at the undergraduate level. The test bed includes an integrated microprocessor, mounting board and lens system designed to overcome the basic height to surface and speed limitations on the optical mouse chip with the manufacturer-supplied lens. The finalized system can be used in a mobile robotics course segment on sensing and state estimation.