Dynamic tracking with AprilTags for robotic education

Abstract

This thesis describes and portrays the use of AprilTags, 2D tools used for the identification of locations in 3D space, to control the position and angular velocity of a rotating object by way of a PD controller. This project also sought to determine the upper limits of the usefulness of AprilTags while on moving objects, that is, the highest velocities at which AprilTags can be detected by a low-cost USB camera. The resulting project may be used for a classroom demonstration, which shows how AprilTags may be used as a means of sensing. When effective, AprilTags can be used to measure the position and angle of an object or location, and they are much more inexpensive than alternative solutions, for example, encoders.