The application of navigation technology for the medical assistive devices based on Aruco recognition technology

FiMa-Reader: A Cost-Effective Fiducial Marker Reader System for Autonomous Mobile Robot Docking in Manufacturing Environments

“…The PnP problem output is the landmark's pose relative to the camera coordinates, and calibration can obtain the extrinsic parameters between the camera and AMR, considering that they are rigidly connected. Tian [25] utilized ArUco recognition technology for navigation and positioning in visually guided electric assistive devices, with the results showing that vision guidance is stable, accurate, and low-cost. Wang [11] proposed an EKF-based relative pose estimation algorithm to handle polluted and intermittently available visual measurements of fiducial markers.…”

Autonomous Navigation of Mobile Robot Assisted by Its Identified Neural Network Model

“…Robot control is implemented using two signals: the desired linear velocity u v and the desired angular velocity u ω . In the model (7), it is assumed that control signals are completely directly transmitted to the system v = u v , ω = u ω . In fact, a completely different picture is observed: firstly, the speeds cannot change infinitely quickly, and the system always has a certain dynamics, and secondly, as a rule, there is some regulator at a lower level that directly controls the voltage supplied to the motors.…”

“…In fact, a completely different picture is observed: firstly, the speeds cannot change infinitely quickly, and the system always has a certain dynamics, and secondly, as a rule, there is some regulator at a lower level that directly controls the voltage supplied to the motors. Therefore, in order to adequately describe the robot motion model, we introduced two additional equations into the (7) system that describe an object's dynamics.…”

“…For example, indoors, the satellite signal usually does not reach devices through concrete and metal structures. In this case, due to the fact that the space inside buildings is often limited to relatively small areas, it is possible to use navigation tools such as triangulation [1], navigation through various markers such as QR codes [2,3], barcodes [4], ArUco markers for position correction [5][6][7], and SLAM navigation [8,9], as well as combinations of the above methods.…”