Development of optical active beacon localization system for mobile robots

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Kiss Domokos
Department of Automation and Applied Informatics

The aim of my thesis is to develop an absolute position and orientation measurement system for robots participating a European robotics contest, called Eurobot. The solution based on the technique of absolute location. The developed system can be used in the Eurobot competition as it respects all the official rules. The bases of the technique are the three active markers placed outside the boundaries of the playing field. Basically, these beacons are light emitting sources. The robot can detect the direction of the light coming from the markers using an appropriate on-board camera. Processing this direction information in real time the robot can locate its position and orientation on the field. Another aim of this project is to supervise or change a former operative system which uses the technique of range measuring via ultrasonic signals. The main goal is to get above this old system and increase the accuracy and reliability. To achieve this, the review of the previous system is necessary. So, the ultimate goal is to build an absolute positioning system based on computer vision and active markers. Applying this system the position and orientation of the robot can be calculated in high precision using maximum three beacons.


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