Localización de robots móviles en entornos industriales usando un anillo de cámaras
- Sara Roos Hoefgeest Toribio 1
- Álvaro Fernández García 1
- Ignacio Álvarez García 1
- Rafael Corsino González de los Reyes 1
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1
Universidad de Oviedo
info
- Jose Luis Calvo Rolle (coord.)
- Jose Luis Casteleiro Roca (coord.)
- María Isabel Fernández Ibáñez (coord.)
- Óscar Fontenla Romero (coord.)
- Esteban Jove Pérez (coord.)
- Alberto José Leira Rejas (coord.)
- José Antonio López Vázquez (coord.)
- Vanesa Loureiro Vázquez (coord.)
- María Carmen Meizoso López (coord.)
- Francisco Javier Pérez Castelo (coord.)
- Andrés José Piñón Pazos (coord.)
- Héctor Quintián Pardo (coord.)
- Juan Manuel Rivas Rodríguez (coord.)
- Benigno Rodríguez Gómez (coord.)
- Rafael Alejandro Vega Vega (coord.)
Publisher: Servizo de Publicacións ; Universidade da Coruña
ISBN: 978-84-9749-716-9
Year of publication: 2019
Pages: 849-858
Congress: Jornadas de Automática (40. 2019. Ferrol)
Type: Conference paper
Abstract
The goal of this project is to develop a mobile robot capable of inspecting and repairing steel sheets in an industrial environment. This document proposes a localization system of a mobile robot base on ArUco markers and a ring formed by 8 cameras. The ring is mounted on top of the robot so that provides a 360º vision. Previously to the localization process, it is necessary to map the pose of ArUco markers. In this way, a mapping system has been developed that estimates the poses of the markers with respect to a common reference system, attached to the first marker found. We have developed ROS Kinetic packages, to solve the marker mapping problem and are able to provide the localization of the robot to other modules, such as navigation.