A Mini-sized Agent Testbed for Applications in Mobile Robotics

被引：1

作者：

Jacome, Gustavo ^{[1
]}

Sierra, Marisol ^{[1
]}

Cruz, Patricio J. ^{[1
]}

机构：

[1] Escuela Politec Nacl, Fac Ingn Elect & Elect, Dept Automatizac & Control Ind, Ladron de Guevara E11-253, Quito, Ecuador

来源：

2019 IEEE 4TH COLOMBIAN CONFERENCE ON AUTOMATIC CONTROL (CCAC): AUTOMATIC CONTROL AS KEY SUPPORT OF INDUSTRIAL PRODUCTIVITY | 2019年

关键词：

Mini-sized Robots; Experimental Testbed; ArUco Markers; Tracking Control; Monitoring System;

D O I：

10.1109/ccac.2019.8921109

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the last years, the growing interest in consensus and coordinated control of multi-agent mobile systems has originated the development of a variety of testbeds. These experimental platforms constitute an essential component in the research and education process in the robotics field. This paper describes the design and implementation of a testbed based on the position control and trajectory tracking of mini-sized ground robots. The testbed architecture consists of a monitoring system composed by a web cam and a control algorithm running in a main computer that communicates with the robots wirelessly. A unique feature of the testbed is the use of ArUco markers on top of the mobile platforms for motion tracking purposes using OpenCV and Visual Basic. Additionally, the testbed has a user graphic interface that allows to manage and visualize results of the robot behavior for the tracking of different pre-defined trajectories.

引用

页数：6

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Bradski G., 2008, Learning OpenCV: Computer vision with the OpenCV library

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