Three DOF mobile robot traveling simulator using optical mice

This paper presents two different designs of the mobile robot traveling simulator using two or more optical mice. In the optical mouse based mobile robot traveling simulator, a traveling surface sample is made to rotate relative to stationary optical mice, instead of a mobile robot equipped with optical mice moving over a traveling surface. And, the installation positions/angles of optical mice on the mobile robot traveling simulator can be changed, according to a given velocity of a mobile robot under simulation. First, the velocity kinematics of a mobile robot with a regular triangular array of optical mice is expressed. Second, the previous design of mobile robot traveling simulator is described, in which the installation positions of three optical mice are fixed, but their installation angles can be changed. Third, the new design of mobile robot traveling simulator is described, in which the installation positions of two optical mice, as well as the installation angles of three optical mice, can be changed. Fourth, simulation results are given to demonstrate the differences between the two designs in terms of parameter setting and simulation capability.