Navigation is a crucial part of mobile robotics. It can be divided into localization or position finding, path planning and movement through space. Many algorithms have already been developed for navigation, each serving specific needs. Nevertheless, we still encounter challenges. Sometimes, we desire more precise localization, which can be difficult to provide, or an issue like a kidnapped robot arises. This refers to the situation when the robot completely loses its location. The reason could lie in unoptimized or inaccurate algorithms, sensors, or maps. New approaches are emerging to address these problems, resulting in less frequent occurrences of such issues. One of such approaches will also be used in the final thesis, using a software library that enables the detection of fiducial markers. Through these markers, we can obtain transformations and use them for robot localization. The study found that such a system only slightly improves navigation, with the most significant changes observed in situations where the robot is completely lost in space.
|
