Mobile robot velocity estimation using an array of optical flow sensors

This paper presents the velocity estimation of a mobile robot using a regular polygonal array of optical flow sensors that are installed at the bottom of a mobile robot. First, the velocity kinematics from a mobile robot to an array of optical flow sensors is derived. Second, for a given set of optical flow sensor readings, the mobile robot velocity is estimated based on the least squares solution. Third, the robustness of the proposed method against random noise of optical flow sensors is analyzed. Fourth, the sensitivity of the proposed method to imprecise installation of optical flow sensors is analyzed. Finally, simulation results are given to demonstrate the validity of the proposed mobile robot localization.