Traveling surface characteristics extraction equipment for optical mouse based mobile robot velocity estimation

This paper presents the design and analysis of the traveling surface characteristics extraction equipment for the mobile robot velocity estimation using optical mice. For effective and reliable extraction of the statistical parameters of a given traveling surface, the traveling surface characteristics extraction equipment is proposed, in which a traveling surface sample is rotating relative to stationary optical mice. First, the conceptual design of traveling surface characteristics extraction equipment is explained. Second, the velocity kinematics of the optical mouse based mobile robot velocity estimation and the traveling surface characteristics extraction equipment are derived. Third, the parameter setting of the traveling surface characteristics extraction equipment is described. Finally, experimental results using the prototype are given.