Abstract
The paper presents research on methods of a wheeled mobile robot localization using an optical motion capture system. The results of localization based on the model of forward kinematics and odometric measurements were compared. A pure pursuit controller was used to control the robot’s behaviour in the path following tasks. The paper describes a motion capture system based on infrared cameras, including the calibration method. In addition, a method for determining the accuracy of robot location using the motion capture system, based on the Hausdorff distance, was proposed. As a result of the research it was found that the Hausdorff distance is very useful in determining the accuracy of localization of wheeled robots, especially those described by differential drive kinematics.
Highlights
The ongoing development of mobile robotics is related to the invention of new power supply systems, new materials, the increase in the computing power of electronic systems and the development of control systems which contributes to the creation of better projects applied in many areas of human life
The waveforms of linear and angular velocity of the robot determined on the basis of odometric data and model of kinematics are presented in Figures 12 and 13
The linear and angular velocity of the robot obtained on the basis of odometric data and model of kinematics are presented in Figures 26 and 27
Summary
Many new technological solutions supporting human labour are being created. One of the fastest growing branches of robotics are mobile robots which have a great ability to move in land, air and water space [2] Such robots can be controlled remotely by humans or can serve as autonomous units. For effective movement in the environment it is necessary to create a map of the space surrounding the robot or use other methods, such as odometry [7]. They allow obtaining the robot position in a more efficient way [8,9]. The ongoing development of mobile robotics is related to the invention of new power supply systems, new materials, the increase in the computing power of electronic systems and the development of control systems which contributes to the creation of better projects applied in many areas of human life
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