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Integrated Ferroelectrics
An International Journal
Volume 201, 2019 - Issue 1
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Articles

Study of Robot Localization and Control Based on Motion Capture in Indoor Environment

Yong QinCollege of Measurement-control Technology & Communications Engineering, Harbin University of Science and Technology, Harbin, China; Correspondence[email protected]
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,
Michael T. FryeDepartment of Engineering, University of the Incarnate Word, San Antonio, Texas, USAView further author information
,
Haibin WuCollege of Measurement-control Technology & Communications Engineering, Harbin University of Science and Technology, Harbin, China; View further author information
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Sreerenjini NairDepartment of Engineering, University of the Incarnate Word, San Antonio, Texas, USAView further author information
&
Kun SunCollege of Measurement-control Technology & Communications Engineering, Harbin University of Science and Technology, Harbin, China; View further author information
Pages 1-11 | Received 31 Dec 2018, Accepted 05 Feb 2019, Published online: 10 Dec 2019
 
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Abstract

This paper researches a robotic localization system based on motion capture indoor environment. We apply motion capture technology to realize multi-robot positioning which achieves the multi-robots’ localization in indoor environment. It includes motion capture system, some robots, and main computer for data calibration and communication. Motions capture system based on the theory of photogrammetry which was analyzed. And the virtual experiment environment was established according to the actual experimental environment. The performance is demonstrated by numerical simulation and experiment.

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Funding

The project is supported by the National Natural Science Foundation of China (61671190), and University Nursing Program for Young Scholars with Creative Talents in Heilongjiang Province under Grant (2015043).

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