Simple robot control and navigation based on aruco markers - part 1

Main goals of the project:

  • simple to make and cheap robot platform
  • robot controlled easily from Internet through an Android app
  • robot should be able to navigate between waypoints
  • vision based positioning system
  • time restrictions : one weekend

I always wanted to do something like this and finally I had a knowledge and time.

The goal is to make a robot to navigate from waypoint to waypoint based on some kind of positioning system.

For a long time I planned to use marker based tracking and a webcam so this is perfect opportunity to do it. I’ve chosen aruco markers. Why aruco markers? Because they are easy to detect and track using OpenCV, position has sub-pixel accuracy and calculate marker attitude is easy if needed.

Let’s start

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