Optimal optical mouse array for accurate mobile robot velocity estimation

This paper presents the optimal array of optical mice for the accurate velocity estimation of a mobile robot. Some restriction can be imposed on the installation of optical mice at the bottom of a mobile robot, due to a non-circular base of a mobile robot or existing structures on the base. First, the velocity kinematics of a mobile robot with an array of optical mice is derived, which maps the velocity of a mobile robot to the velocities of optical mice. Second, taking into account the consistency in physical units, the uncertainty ellipsoid is obtained to represent the error characteristics of the mobile robot velocity estimation caused by noisy optical mouse velocity measurements. Third, the simple but effective performance index for the optimal placement of optical mice is defined as the inverse of the volume of uncertainty ellipsoid. Fourth, simulation results for the optimal placement of three optical mice on given elliptical paths are given.