Isotropy Analysis of Optical Mouse Array for Mobile Robot Velocity Estimation

Sungbok Kim

2013

Abstract

This paper presents the isotropic analysis of an optical mouse array for the velocity estimation of a mobile robot. It is assumed that there can be positional restriction on the installation of optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is obtained, and the resulting Jacobian matrix is analyzed symbolically. Second, the isotropic, anisotropic, and singular optical mouse placements are identified, along with the corresponding characteristic lengths. Third, the least squares mobile robot velocity estimation from the noisy optical mouse velocity measurements is discussed. Finally, simulation results for the isotropic placement of three optical mice are given.

Paper Citation

in Harvard Style

Kim S. (2013). Isotropy Analysis of Optical Mouse Array for Mobile Robot Velocity Estimation . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 169-176. DOI: 10.5220/0004435401690176

in Bibtex Style

@conference{icinco13,
author={Sungbok Kim},
title={Isotropy Analysis of Optical Mouse Array for Mobile Robot Velocity Estimation},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={169-176},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004435401690176},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Isotropy Analysis of Optical Mouse Array for Mobile Robot Velocity Estimation
SN - 978-989-8565-71-6
AU - Kim S.
PY - 2013
SP - 169
EP - 176
DO - 10.5220/0004435401690176