Mobile robot trajectory analysis with the help of vision system

© Springer Nature Switzerland AG 2019. We present a vision-based motion analysis method for single and multiple mobile robots which allows quantifying the robot's behaviour. The method defines how often and for how much each of the robots turn and move straight. The motion analysis relies on the robot trajectories acquired online or offline by an external camera and the algorithm is based on iteratively performed a linear regression to detect straight and curved paths for each robot. The method is experimentally validated with the indoor mobile robotic system. Potential applications include remote robot inspection, rescue robotics and multi-robotic system coordination