Application of the Motion Capture System to Estimate the Accuracy of a Wheeled Mobile Robot Localization

Sebastian Dudzik
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Sebastian Dudzik: Faculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, Poland

Energies, 2020, vol. 13, issue 23, 1-29

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.

Keywords: wheeled mobile robot; motion capture; robotic localization (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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