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Isotropy Analysis of Optical Mouse Array for Mobile Robot Velocity Estimation

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.