Application of the motion capture system to estimate the accuracy of a wheeled mobile robot localization †

Abstract

The paper presents research on methods of a wheeled mobile robot localization using an optical motion capture system. The results of localization based on the model of forward kinematics and odometric measurements were compared. A pure pursuit controller was used to control the robot’s behaviour in the path following tasks. The paper describes a motion capture system based on infrared cameras, including the calibration method. In addition, a method for determining the accuracy of robot location using the motion capture system, based on the Hausdorff distance, was proposed. As a result of the research it was found that the Hausdorff distance is very useful in determining the accuracy of localization of wheeled robots, especially those described by differential drive kinematics.