Autonomous robot integrating Aruco Marker-based vision positioning technology developed on the ROS

Abstract

The positioning system is designed by combining absolute and relative positioning methods. It is developed on the Robot Operating System (ROS) and utilizes sensors such as cameras, LiDAR (Light Detection and Ranging), and ultrasonic sensors to perceive the environment. In this context, absolute positioning refers to determining the robot’s location based on fixed references in the environment (e.g., map frame or known landmarks like Aruco markers), while relative positioning relies on incremental measurements (e.g., wheel encoders or odometry) to estimate movement from a known point.