The aim of this transfer project is the motion control problem of a wheeled mobile robot (WMR) as observed from uncalibrated ceiling cameras. We develop a method that localizes the robot in real-time and smartly drives it over a path in a large environment with a pure pursuit controller, achieving less then 5 pixel on cross track error. Experiments are reported for Ambrogio, a two-wheel differentially-driven mobile robot provided by  Zucchetti Centro Sistemi.

Wheeled Mobile Robot path follower in uncalibrated multiple camera environment

The video below shows the improvements in the motion control of a wheeled mobile robot (WMR) with a controller that uses an osculating circle: