As part of the TKP21-NVA project entitled "Research of Hydrogen-Powered, Cooperative, Unmanned Remote Sensing Devices and the Associated Data Processing Framework", developers Zalán Simon and Botond Gaál tested the indoor positioning system of the Husky unmanned ground vehicle. The testing was conducted at the HUN-REN SZTAKI Innovation and Demonstration Space (IDT) within the framework of Autonomous Systems National Laboratory, utilizing the Optitrack positioning system.
After equipping the vehicle with markers, several tasks were performed, while monitoring its position both onboard and via the Optitrack system, namely:
- Traveling back and forth along a straight path;
- Moving along a circular track;
- Turning in place;
- Following an eight-shaped trajectory.
The Optitrack system allows for centimeter-level accuracy in position tracking, providing an opportunity to evaluate the precision of the onboard position and orientation estimation system by comparing the two sets of position and orientation data. This helps to identify if further tuning is needed.
These measurements serve as a great example of collaboration between various projects and teams.