Positioning a mobile robot in a closed area with a map of markers
| Autor: | Sokolov, Oleksandr, Mreła, Aleksandra, Józefowicz, Mateusz, Rydel, Krzysztof, Meszyński, Sebastian |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | Journal of Education, Health and Sport, Vol 9, Iss 4, Pp 573-579 (2019) |
| ISSN: | 2391-8306 |
| Popis: | Sokolov Oleksandr, Mreła Aleksandra, Józefowicz Mateusz, Rydel Krzysztof, Meszyński Sebastian. Positioning a mobile robot in a closed area with a map of markers. Journal of Education, Health and Sport. 2019;9(4):573-579. eISSN 2391-8306. DOI http://dx.doi.org/10.5281/zenodo.2653280 http://ojs.ukw.edu.pl/index.php/johs/article/view/6868 https://pbn.nauka.gov.pl/sedno-webapp/works/912277 The journal has had 7 points in Ministry of Science and Higher Education parametric evaluation. Part B item 1223 (26/01/2017). 1223 Journal of Education, Health and Sport eISSN 2391-8306 7 © The Authors 2019; This article is published with open access at Licensee Open Journal Systems of Kazimierz Wielki University in Bydgoszcz, Poland Open Access. This article is distributed under the terms of the Creative Commons Attribution Noncommercial License which permits any noncommercial use, distribution, and reproduction in any medium, provided the original author (s) and source are credited. This is an open access article licensed under the terms of the Creative Commons Attribution Non commercial license Share alike. (http://creativecommons.org/licenses/by-nc-sa/4.0/) which permits unrestricted, non commercial use, distribution and reproduction in any medium, provided the work is properly cited. The authors declare that there is no conflict of interests regarding the publication of this paper. Received: 15.04.2019. Revised: 25.04.2019. Accepted: 29.04.2019. POSITIONING A MOBILE ROBOT IN A CLOSED AREA WITH A MAP OF MARKERS Oleksandr Sokolov Faculty of Physics, Astronomy and Informatics Nicolaus Copernicus University, Toruń, Poland osokolov@fizyka.umk.pl Aleksandra Mreła Faculty of Technology Kujawy and Pomorze University, Bydgoszcz, Poland a.mrela@kpsw.edu.pl Mateusz Józefowicz ABM Space Sp. z o.o., Toruń, Poland mateusz.jozefowicz@abmspace.com Krzysztof Rydel ABM Space Sp. z o.o., Toruń, Poland krzysztof.rydel@abmspace.com Sebastian Meszyński ABM Space Sp. z o.o., Toruń, Poland sebastian.meszynski@abmspace.com 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. Key Words: mobile robot positioning, camera calibration, map of markers, ReMY simulation game Sokolov Oleksandr, Mreła Aleksandra, Józefowicz Mateusz, Rydel Krzysztof, Meszyński Sebastian. Positioning a mobile robot in a closed area with a map of markers. Journal of Education, Health and Sport. 2019;9(4):573-579. eISSN 2391-8306. DOI http://dx.doi.org/10.5281/zenodo.2653280 http://ojs.ukw.edu.pl/index.php/johs/article/view/6868 https://pbn.nauka.gov.pl/sedno-webapp/works/912277 |
| Databáze: | OpenAIRE |
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