Positioning a mobile robot in a closed area with a map of markers

Oleksandr Sokolov, Aleksandra Mreła, Mateusz Józefowicz, Krzysztof Rydel, Sebastian Meszyński


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.


mobile robot positioning; camera calibration; map of markers; ReMY simulation game

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DOI: http://dx.doi.org/10.5281/zenodo.2653280


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Journal of Education, Health and Sport formerly Journal of Health Sciences

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The journal has had 5 points in Ministry of Science and Higher Education parametric evaluation. § 8. 2) and § 12. 1. 2) 22.02.2019.

1223 Journal of Education, Health and Sport eISSN 2391-8306 7

ISSN 2391-8306 formerly ISSN: 1429-9623 / 2300-665X

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Instytut Kultury Fizycznej Uniwersytet Kazimierza Wielkiego w Bydgoszczy, Institute of Physical Education Kazimierz Wielki University in Bydgoszcz, Poland 85-091 Bydgoszcz ul. Sportowa 2  www.ukw.edu.pl Copyright by Instytut Kultury Fizycznej UKW w Bydgoszczy http://ojs.ukw.edu.pl/index.php/johs  Open Access ISSN 2391-8306 formerly ISSN: 1429-9623 / 2300-665X

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