New positioning system for the CSL Robotics Laboratory Testbed

robotic testbed vision positioning CSL

Lopez-Morales, Wilfredo ; Stipanović, Dušan M., ; ,Hutchinson, Seth A. ; Stipanović ; Dušan M. ; Hutchinson ; Seth A.

关键词: robotic testbed vision positioning CSL;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/14681/Lopez-Morales_Wilfredo.pdf?sequence=2&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

A new positioning system is proposed for the B16 Robotics Laboratory testbed. The system is vision based and distributed. Each mobile agent is responsible for solving its individual positioning problem. The modified algorithm implements detection andidentification techniques for position markers, following a template matching approach.Two modes of operation are implemented, Barycentric and Change of Axes. The new system is able to calculate position using the two methods, and 90% or more of the datapoints collected in each set lie within 0.05 units from true position. Heading is also calculated, but further testing is needed to fully asses its performance. The concept for the new positioning system is validated. The system achieves partial functionality andacceptable performance. However, it has not yet reached the potential necessary to replace the current system.