New positioning system for the CSL Robotics Laboratory Testbed
Lopez-Morales, Wilfredo
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https://hdl.handle.net/2142/14681
Description
Title
New positioning system for the CSL Robotics Laboratory Testbed
Author(s)
Lopez-Morales, Wilfredo
Issue Date
2010-01-06T16:21:10Z
Director of Research (if dissertation) or Advisor (if thesis)
Stipanović, Dušan M.
Hutchinson, Seth A.
Doctoral Committee Chair(s)
Stipanović, Dušan M.
Hutchinson, Seth A.
Department of Study
Electrical and Computer Engineering
Discipline
Electrical and Computer Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
robotic testbed vision positioning CSL
Abstract
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 and
identification 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 data
points 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 and
acceptable performance. However, it has not yet reached the potential necessary to replace the current system.
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