Robustness Analysis of Mobile Robot Velocity Estimation Using a Regular Polygonal Array of Optical Mice

This paper presents the robust localization 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 basic principle of the proposed localization scheme is explained. Second, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Third, for a given set of optical mouse readings, the least squares velocity estimation of a mobile robot is obtained as the simple average. Fourth, the robustness of the proposed least squares velocity estimation against measurement noise, partial malfunction, and imprecise installation is analyzed.