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Improving Self-Localization Efficiency in a Small Mobile Robot by Using a Hybrid Field of View Vision System

Rostkowska M., Skrzypczyński P.

Journal of Automation Mobile Robotics and Intelligent Systems

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2015

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Vol. 9, No. 4

28--38

EN

In this article a self-localization system for small mobile robots based on inexpensive cameras and unobtrusive, passive landmarks is presented and evaluated. The main contribution is the experimental evaluation of the hybrid field of view vision system for self-localization with artificial landmarks. The hybrid vision system consists of an omnidirectional, upward-looking camera with a mirror, and a typical, front-view camera. This configuration is inspired by the peripheral and foveal vision co-operation in animals. We demonstrate that the omnidirectional camera enables the robot to detect quickly landmark candidates and to track the already known landmarks in the environment. The front-view camera guided by the omnidirectional information enables precise measurements of the landmark position over extended distances. The passive landmarks are based on QR codes, which makes possible to easily include in the landmark pattern additional information relevant for navigation. We present evaluation of the positioning accuracy of the system mounted on a SanBot Mk II mobile robot. The experimental results demonstrate that the hybrid field of view vision system and the QR code landmarks enable the small mobile robot to navigate safely along extended paths in a typical home environment.

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Ocena przydatności kodów matrycowych do określania pozycji robota mobilnego

Rostkowska M., Topolski M.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2014

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z. 194, t. 2

711--720

PL

Artykuł przedstawia analizę przydatności i zakresu stosowalności popularnych kodów matrycowych jako znaczników używanych do określania pozycji robota mobilnego względem zewnętrznego układu współrzędnych lub lokalizacji wybranych obiektów względem robota. Przedstawiono podstawowe kody matrycowe oraz przeprowadzono ich analizę pod kątem użyteczności w rozważanym zadaniu. Następnie opisano badania eksperymentalne, których wynikiem jest określenie zależności pozwalającej wyznaczyć minimalną wielkość znacznika opartego o kod matrycowy w zależności od użytej kamery oraz odległości i kąta obserwacji.

EN

This paper presents analysis of usability of matrix barcodes in terms of mobile robots positioning in reference to external coordinate system or known localizations. The most popular codes have been presented and tested for their usability. Results of these studies have been used to formulate an equation useful for designing landmarks with QR or Data Matrix barcodes, while given the camera parameters, viewing angle range and maximum desired decoding distance.

3

Simulation of production lines in the education of engineers: how to choose the right software?

Rostkowska M.

Management and Production Engineering Review

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2014

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Vol. 5, No. 4

53--65

EN

The article discusses the problems of modeling and simulation in the design of production lines, mainly from an educator’s perspective. Nowadays, there is a wide range of computer programs that can be used to design production lines and to simulate various aspects of their operation. However, the programs being available vary considerably as to their functionality, the approach to production system design, and the visualization tools. Therefore we demonstrate and evaluate in this paper four simulation programs, focusing on the easiness of system design, area of the possible applications in education of engineers, and the limitations imposed by versions dedicated for students. We evaluate three of programs for digital factory simulation on a common, simple assembly task, then demonstrate that these programs may be also used for more specialized simulations in various areas of production, and compare with a specialized program for simulation of robotised production lines and work cells.

4

A modular mobile robot for multi-robot applications

Rostkowska M., Topolski M., Skrzypczyński P.

Pomiary Automatyka Robotyka

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2013

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R. 17, nr 2

288-293

EN

This paper presents the process of designing and constructing a desktop-size mobile robot aimed at multi-robot applications. We present the mechanical structure, the electronics and the software, focusing on the modularity concept, which determines the educational values of the entire design. The decision process underlying the design is presented in details: choosing motors, sensors and crucial electronics components, implementing communication buses, and construction of the additional modules. Possible multi-robot applications of this design are outlined at the end.

PL

Niniejsza praca przedstawia poszczególne etapy projektowania i konstrukcji miniaturowego, dydaktycznego robota mobilnego własnego pomysłu. Zawarto w niej opis każdego z etapów, ze szczególnym naciskiem na koncepcję modułowości, która stanowi o wartości dydaktycznej całej konstrukcji. Opisano m.in. proces projektowania mechaniki, doboru czujników i najważniejszych elementów, projektowania elektroniki, opis zastosowanych magistral komunikacyjnych oraz opis wytworzonych modułów i programów zawartych w mikrokontrolerach oraz na komputerze PC.