Positioning a mobile robot in a closed area with a map of markers

Authors

  • Oleksandr Sokolov Faculty of Physics, Astronomy and Informatics Nicolaus Copernicus University, Toruń
  • Aleksandra Mreła Kujawsko-Pomorska Szkoła Wyższa w Bydgoszczy
  • Mateusz Józefowicz ABM Space Sp. z o.o., Toruń
  • Krzysztof Rydel ABM Space Sp. z o.o., Toruń
  • Sebastian Meszyński ABM Space Sp. z o.o., Toruń

Keywords

mobile robot positioning, camera calibration, map of markers, ReMY simulation game

Abstract

The article presents issues related to the positioning of mobile robots in a closed area. The method of positioning using photogrammetry methods based on the analysis of specially created unique square-shaped markers is presented. On the basis on such markers placed in the global coordinate system in a closed space (on the terrain ceiling), the proposed algorithms for calculating the spatial and angular positions of the robot are shown. The positioning methods along with the analysis of measurement errors are analyzed. The result of the research is to develop a real-time robot navigation method in the ReMY simulation game.

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Published

2019-04-29

How to Cite

1.
SOKOLOV, Oleksandr, MREŁA, Aleksandra, JÓZEFOWICZ, Mateusz, RYDEL, Krzysztof and MESZYŃSKI, Sebastian. Positioning a mobile robot in a closed area with a map of markers. Journal of Education, Health and Sport. Online. 29 April 2019. Vol. 9, no. 4, pp. 573-579. [Accessed 25 December 2024].

Issue

Vol. 9 No. 4 (2019)

Section

Research Articles

License

The periodical offers access to content in the Open Access system under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0

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