Path-building and localization system for mobile robotic platforms based on Raspberry Pi

The paper demonstrates a system for detection of location of robotic platform FESTO Robotino and optimal route building. It processes data from the camera and transmits control signals to the control system of the robot. The whole system is based on Raspberry Pi. It detects robot's current coordinates, current angular rotation, angular difference (difference between current and previous angular rotation) and displacement of the robot in its own coordinate system. It uses an ArUco marker, placed on the top of the mobile robot for that. System also builds an optimal path, when moving from one point of the surface to another, according to the permeability of the surface. The authors set the permeability of testing surfaces. Using that, a weighted graph is built through the centers of particular surfaces, which are detected via an algorithm on Raspberry Pi. The optimal path is constructed through the edges of the graph via modified Dijkstra algorithm.