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

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