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Practical Designs of Mobile Robot Traveling Simulator Using Optical Mice and Their Optimal Parameter Setting

Sungbok Kim* and Seokgi Kim
International Journal of Control, Automation, and Systems, vol. 15, no. 2, pp.857-866, 2017

Abstract : "This paper presents two practical designs of a mobile robot traveling simulator using optical mice and the corresponding optimal parameter setting. In the mobile robot traveling simulator, a traveling surface sample is made to rotate relatively to stationary optical mice; accordingly, precise and repetitive traveling experiments can be performed with significantly reduced space and time costs. First, for structural simplicity and user convenience, two practical designs of the mobile robot traveling simulator are proposed, which allow 1 DOF and 2 DOF traveling simulations. Second, the velocity kinematics of the mobile robot traveling simulator is formulated, in which the mobile robot traveling simulator can generate the velocity measurements of the optical mice that are applied for a mobile robot under simulation. Third, for a given velocity of a mobile robot under simulation, the optimal parameter setting of the mobile robot traveling simulator is described, thereby minimizing the discrepancy between the desired and the actual velocity measurements of the optical mice. Fourth, simulation results are given to demonstrate that a near-complete mobile robot traveling simulation can be achieved with the use of the 2 DOF design. Lastly, potential applications of the mobile robot traveling simulator are briefly discussed."

Keyword : Mobile robot, optical mouse, traveling simulation, velocity estimation.

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