Internal positioning system for trajectory control of mobile robots

Paiva J.; Valdiviezo J.; Soto J. · Proceedings of the 2023 IEEE 30th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2023 (2023) · DOI: 10.1109/intercon59652.2023.10326090

Resumen

The current and well-known positioning systems such as GPS do not function properly in indoor spaces, as the surrounding structure prevents satellite signals from penetrating and locating a target. The purpose of this article is to develop an alternative solution for positioning mobile robots or specific targets in enclosed spaces. The aim of its development is to enable its application in service robotics within facilities such as offices, laboratories, hospitals, warehouses, homes, etc., whether using ground-based or aerial robots. The development of an indoor positioning system based on the concept of intelligent spaces is proposed. A detection and monitoring system is developed, a system for converting 2D to 3D spaces. Obtaining the position of an object in space through a marker. Finally, the testing and validation of the system is carried out in an environment within the laboratory. It is possible to develop an intelligent system capable of detecting objects in space through markers and reconstructing their trajectory. The developed system opens the way to biomechanical studies using motion capture, development of trajectory control systems, geomorphological reconstruction, scanning of mechanical parts or biomechanical parts, etc.

Instituciones: Universidad de Piura