低成本高精度室内导航系统，实现机器人精准定位与控制。
Co-Design of a Robot Controller Board and Indoor Positioning System for IoT-Enabled Applications
- 自研控制器板驱动双电机，集成Wi-Fi支持物联网通信。
- 摄像头定位误差≤0.125米，成本低于商用动捕系统100倍。
- 适合低成本智能机器人、IoT应用开发与教学实验。
本文提出一种低成本且高精度的室内机器人导航系统，由定制机器人控制器板与室内定位系统协同构成。控制器板专为新兴物联网机器人应用设计，可驱动两路6安培电机，并集成具备Wi-Fi连接能力的微控制器，实现机器人与服务器间的通信。定位系统通过俯视摄像头捕捉机器人图像，利用图像中的位置信息估算其在真实环境中的坐标，并通过Wi-Fi向机器人发送指令，引导其到达任意目标位置。实验表明，该系统导航误差不超过0.125米，且成本低于商用动作捕捉（MOCAP）系统的两个数量级。
原文摘要 · Abstract (English)
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially designed for emerging IoT-based robot applications and is capable of driving two 6-Amp motor channels. The controller board also embeds an on-board micro-controller with WIFI connectivity, enabling robot-to-server communications for IoT applications. Then, working together with the robot controller board, the proposed positioning system detects the robot's location using a down-looking webcam and uses the robot's position on the webcam images to estimate the real-world position of the robot in the environment. The positioning system can then send commands via WIFI to the robot in order to steer it to any arbitrary location in the environment. Our experiments show that the proposed system reaches a navigation error smaller or equal to 0.125 meters while being more than two orders of magnitude more cost-effective compared to off-the-shelve motion capture (MOCAP) positioning systems.
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