TY - JOUR
T1 - Development and validation of a low-cost mobile robotics testbed
AU - Johnson, Michael
AU - Hayes, Martin J.
N1 - Publisher Copyright:
© Versita sp. z o.o.
PY - 2012/3
Y1 - 2012/3
N2 - This paper considers the design, construction and validation of a low-cost experimental robotic testbed, which allows for the localisation and tracking of multiple robotic agents in real time. The testbed system is suitable for research and education in a range of different mobile robotic applications, for validating theoretical as well as practical research work in the field of digital control, mobile robotics, graphical programming and video tracking systems. It provides a reconfigurable floor space for mobile robotic agents to operate within, while tracking the position of multiple agents in real-time using the overhead vision system. The overall system provides a highly cost-effective solution to the topical problem of providing students with practical robotics experience within severe budget constraints. Several problems encountered in the design and development of the mobile robotic testbed and associated tracking system, such as radial lens distortion and the selection of robot identifier templates are clearly addressed. The testbed performance is quantified and several experiments involving LEGO Mindstorm NXT and Merlin System MiaBot robots are discussed.
AB - This paper considers the design, construction and validation of a low-cost experimental robotic testbed, which allows for the localisation and tracking of multiple robotic agents in real time. The testbed system is suitable for research and education in a range of different mobile robotic applications, for validating theoretical as well as practical research work in the field of digital control, mobile robotics, graphical programming and video tracking systems. It provides a reconfigurable floor space for mobile robotic agents to operate within, while tracking the position of multiple agents in real-time using the overhead vision system. The overall system provides a highly cost-effective solution to the topical problem of providing students with practical robotics experience within severe budget constraints. Several problems encountered in the design and development of the mobile robotic testbed and associated tracking system, such as radial lens distortion and the selection of robot identifier templates are clearly addressed. The testbed performance is quantified and several experiments involving LEGO Mindstorm NXT and Merlin System MiaBot robots are discussed.
KW - Localisation
KW - Robotic testbeds
KW - Robotics
KW - Vision-based tracking
KW - Wireless networks
UR - http://www.scopus.com/inward/record.url?scp=84921522508&partnerID=8YFLogxK
U2 - 10.2478/s13531-011-0048-z
DO - 10.2478/s13531-011-0048-z
M3 - Article
AN - SCOPUS:84921522508
SN - 1896-1541
VL - 2
SP - 50
EP - 65
JO - Central European Journal of Engineering
JF - Central European Journal of Engineering
IS - 1
ER -