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

Author

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  • Sebastian Dudzik

    (Faculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, Poland)

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.

Suggested Citation

  • Sebastian Dudzik, 2020. "Application of the Motion Capture System to Estimate the Accuracy of a Wheeled Mobile Robot Localization," Energies, MDPI, vol. 13(23), pages 1-29, December.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:23:p:6437-:d:457372
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    Citations

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    Cited by:

    1. Piotr Szeląg & Sebastian Dudzik & Anna Podsiedlik, 2023. "Investigation on the Mobile Wheeled Robot in Terms of Energy Consumption, Travelling Time and Path Matching Accuracy," Energies, MDPI, vol. 16(3), pages 1-30, January.
    2. Adam Rapalski & Sebastian Dudzik, 2023. "Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots," Energies, MDPI, vol. 16(3), pages 1-37, February.

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