| Proper performance analysis of mobile robot motion controllers requires benchmark systems to measure robot position and orientation. Ongoing efforts to construct a simulated Martian environment for exploratory mobile robot testing require a robust, real-time, flexible benchmark localization system to be implemented in the MarsDome facility at low cost.; To this end, the feasibility of a low-cost initial benchmark localization system to perform video tracking and surface projection is investigated. Different target detection, acquisition and tracking algorithms are proposed, investigated, implemented and tested. Alternate systems are suggested and analyzed, and the optimal system is chosen. A system simulator is constructed to model arbitrary surfaces and vehicles, and a calibration routine is devised. Testing is done to determine the accuracy and robustness of the chosen system. Finally, the physical hardware implementation is presented, along with component lists, schedule, and estimated costs. |
