Location, orientation, and speed tracking of a robot using ROS: a case study with Whycon

In this paper, a system that can track the absolute position, orientation, and speed of a single mobile robot was developed using ROS and the WhyCon localization algorithm. ROS nodes that receive WhyCon coordinates and return the orientation and speed of a mobile robot were developed. On-site experiments verify the accuracy of the system. Percent error of the computed position was found to be 6.67%, with orientation error at 0.612%, and speed error at 3.68%. The system can be used in a mobile robot testing facility.