![](bg8.png)
(a)
(b)
Figure 6: The least squares mobile robot velocity
estimation from the noisy optical mouse velocity
measurements: (a) the measured velocity components,
and
, and (b) the estimated velocity components,
,
,
∗
, and
.
9 CONCLUSIONS
In this paper, we presented the isotropy analysis of
an optical mouse array for the mobile robot velocity
estimation. Positional restriction on the installation
of optical mice at the bottom of a mobile robot is
assumed. The main contributions of this paper can
be summarized as 1) the symbolic analysis of the
Jacobian matrix, mapping the mobile robot velocity
to the optical mouse velocities, 2) the identification
of the isotropic, anisotropic, and singular optical
placements along with their corresponding
characteristic lengths, and 3) the application to the
least squares mobile robot velocity estimation from
the noisy optical mouse velocity measurements. The
results of this paper can be helpful especially for the
development of personal robot mobile platforms
having a non-circular base.
ACKNOWLEDGEMENTS
This work was supported by Hankuk University of
Foreign Studies Research Fund of 2013.
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