New positioning system for the CSL Robotics Laboratory Testbed

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2010

Author dc:creator

• Lopez-Morales, Wilfredo

Contributors dc:contributor

• Stipanović, Dušan M.
• Hutchinson, Seth A.

• robotic testbed vision positioning CSL

Statement dc:rights

• Copyright 2009 Wilfredo Lopez-Morales

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/14681

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/14681