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Design of Skid-Steer Mobile Robot with Single Landmark based Localization Using Visual Control System

S. Rakesh Kumar, K. Ramkumar

Abstract



This paper proposes design of a simple and cost effective skid steer mobile robot platform using visual control system which can track the desired trajectory autonomously. To achieve autonomy, a visual control system was employed which uses visual images as medium to perform computer based closed loop control. The mobile robot was localized using single optical landmark flitted over the ceiling of the arena which claims to be simple and more reliable. The computer commands the robot using a visual patterns generated and displayed on computer monitor. A novel image interface module hardware was designed which will translate this visual pattern into a motor command for the robot wheels. A graphical user interface was also deigned to monitor the performance and for manual control of the robot. Finally, the performance of the robot was evaluated by subjecting it to a square trajectory and the results and further usage of the robot platform were discussed.

Keywords


wheeled mobile robots, visual control system, localization, trajectory tracking

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