Mobile Motion Capture Testbed
Students: Shakeeb Ahmad, Joseph Kloeppel, Jasmin Regalado
miniROaCH is a small-scale, affordable, and portable multi-vehicle robotic platform, capable of running Linux, and hence Robot Operating System (ROS) on-board. The purpose of this research is to simulate and implement a small-scale swarm testbed based on these miniROaCHes. Developing a swarm testbed can be difficult in terms of robot localization. The proposed testbed aims to tackle this difficult issue by utilizing an aerial vehicle used to monitor and publish the locations and orientations of the swarm’s ground agents. The testbed consists of one quadrotor and multiple crawler robots. The team plans to build a mobile motion capture system so that experiments can be done both indoors and outdoors. The system is able to precisely estimate the poses of multiple ground robots with respect to the absolute world frame. A quadrotor UAV with a downward-facing camera is used to detect the relative poses of the ground robots in its field of view. The poses of each ground robot are ultimately transformed into the world frame through proper transformation calculations. The pose of the quadrotor is measured with respect to the world frame for the transformation.