Optimal parameter setting of optical mouse based mobile robot traveling simulator

This paper presents the optimal parameter setting of the traveling simulator of a mobile robot equipped with optical mice. Through the rotation of a traveling surface sample relative to stationary optical mice, the mobile robot traveling simulator can generate the measurements of optical mice as close as possible to the measurements of optical mice equipped on a mobile robot. For a given velocity of a mobile robot, the controllable parameters of the mobile robot traveling simulator can be changed, which include the installation distances and angles of optical mice. First, for the optimal parameter setting of the mobile robot traveling simulator, the cost function is defined as the discrepancy between the commanded and simulated measurements of optical mice, assuming that the rotational speed of a surface sample is fixed. Second, for 1 DOF and 2 DOF designs of the mobile robot traveling simulator, the optimal values of the controllable parameters of the mobile robot traveling simulator are determined by minimizing the cost function. Third, for a hybrid velocity profile of a mobile robot, simulation results of the mobile robot traveling simulator are given, to demonstrate the parameter setting and simulation capability of 2 DOF design.