Abstract
This paper presents the systematic robustness analysis for the least squares velocity estimation of a mobile robot using a polygonal array of optical mice. First, the least squares velocity estimation of a mobile robot is obtained as the simple average of the velocity readings from optical mice. Second, the robustness of the proposed mobile robot velocity estimation is analyzed in terms of measurement noises, partial malfunctions, and imprecise installation of optical mice. Some experimental results are given to demonstrate the validity and performance of the proposed method.
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