final demonstration dead reckoning system for mobile robots l.
Download
Skip this Video
Loading SlideShow in 5 Seconds..
Final Demonstration: Dead Reckoning System for Mobile Robots PowerPoint Presentation
Download Presentation
Final Demonstration: Dead Reckoning System for Mobile Robots

Loading in 2 Seconds...

play fullscreen
1 / 15

Final Demonstration: Dead Reckoning System for Mobile Robots - PowerPoint PPT Presentation


  • 329 Views
  • Uploaded on

Final Demonstration: Dead Reckoning System for Mobile Robots. Lee Fithian Steven Parkinson Ajay Joseph Saba Rizvi. Problem Statement. Dead reckoning is navigation based on measurements of distance traveled from a known point.

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'Final Demonstration: Dead Reckoning System for Mobile Robots' - lotus


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
final demonstration dead reckoning system for mobile robots

Final Demonstration:Dead Reckoning System for Mobile Robots

Lee Fithian Steven Parkinson

Ajay Joseph Saba Rizvi

problem statement
Problem Statement
  • Dead reckoning is navigation based on measurements of distance traveled from a known point.
  • Use a mobile robot and develop a synthesized dead reckoning navigation algorithm.
  • We will integrate various sensors.
robot and sensors
Robot and Sensors
  • MARK III Robot with OOPic Chip
  • MEMS Accelerometer
  • MEMS Gyroscope
  • Shaft Encoders
  • Digital Compass
algorithms we tested
Algorithms We Tested
  • North Bound using Compass
  • Turning using Gyroscope
  • Turning using Encoders
  • Turning using Compass
  • Encoder x,y Movement
algorithms we tested cont
Algorithms We Tested (Cont)
  • Accelerometer x,y Movement
  • One-Direction using Accelerometer and Encoders
  • Turning using Encoders and Gyroscope
  • X, Y Path integrating sensors
  • Z Path using all sensors
merging data
Merging Data
  • Accelerometer and Encoders data merged for translations
  • Gyroscope and Encoders data merged for rotations
  • Weights found for each sensor by calculating percent errors
merging data cont
Merging Data (Cont)
  • Weights
    • Gyroscope - Rotational
      • CW – .11
      • CCW – .19
    • Accelerometer - Translational
      • .12
    • Encoder
      • Rotational
        • CW – .89
        • CCW – .81
      • Translational
        • .88
merging data cont8
Merging Data (Cont)
  • Equation
    • (Sensor1*weight1 + Sensor2*weight2) / Target < 1
demo 1 north bound using compass
DEMO 1:North Bound Using Compass
  • Robot will turn and travel towards north where ever it is initially pointing
demo 2 z path integrating sensors
DEMO 2: Z-Path integrating sensors
  • Uses combination of all sensors
  • Fusion of sensors

ORANGE – gyroscope turns 90 degrees, CW

RED – accelerometer travels 56 cm

BLUE – encoder turns 150 degrees, CCW

GREEN – encoder travels 64 cm

BLACK – gyroscope and encoder merged to turn 150 degrees, CW

PURPLE – accelerometer and encoder merged to travel 56 cm

problems with each sensor
Problems With Each Sensor
  • Accelerometer

- Converting values

- Unable to use Digital signal

  • Encoder

- Mounting on Robot in an aesthetic manner

  • Gyroscope

- Analog signal sensitive to noise

- Converting values

  • Compass

- Accuracy is very dependent on environment

other problems
Other Problems
  • Batteries change results
  • Unable to get PAK to work
  • Unable to use floating point
refinements
Refinements
  • Forty pin OOPic connecter
  • Pad per hole PCB
  • Five pin encoder connecter
  • Socket for accelerometer
  • Used analog mode for accelerometer
  • Software
conclusion
Conclusion
  • Construction
    • Mark III based robot with shaft encoders, accelerometers, compass, gyroscope
    • Validation to ensure systems work at a basic level
  • Experimentation
    • Use dead reckoning navigation in trials.
  • Analysis
    • Numerical analysis of accuracy of navigation method.
deliverables
Deliverables
  • Project Proposal
  • Implementation Notes
  • User’s Manual
  • Course Debrief
  • Notebooks
  • Robot
  • CD containing all files