Abstract:

The aim of this transfer project is the motion control problem of a wheeled mobile robot
(WMR) as observed from uncalibrated ceiling cameras. We develop a method that localizes the robot in real-time and smartly drives it over a path in a large environmen
t with a pure pursuit controller, achieving less then 5 pixel on cross track error. Experiments are reported for Ambrogio, a two-wheel differentially-driven mobile robot provided by  Zucchetti Centro Sistemi.

Demos:

Note: all the videos are recorded in realtime.

Main work of Iacopo Masi. Joint work with Federico Pernici.