Final demonstration dead reckoning system for mobile robots
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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.

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Final demonstration dead reckoning system for mobile robots l.jpg

Final Demonstration:Dead Reckoning System for Mobile Robots

Lee Fithian Steven Parkinson

Ajay Joseph Saba Rizvi


Problem statement l.jpg
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 l.jpg
Robot and Sensors

  • MARK III Robot with OOPic Chip

  • MEMS Accelerometer

  • MEMS Gyroscope

  • Shaft Encoders

  • Digital Compass


Algorithms we tested l.jpg
Algorithms We Tested

  • North Bound using Compass

  • Turning using Gyroscope

  • Turning using Encoders

  • Turning using Compass

  • Encoder x,y Movement


Algorithms we tested cont l.jpg
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 l.jpg
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 l.jpg
Merging Data (Cont)

  • Weights

    • Gyroscope - Rotational

      • CW – .11

      • CCW – .19

    • Accelerometer - Translational

      • .12

    • Encoder

      • Rotational

        • CW – .89

        • CCW – .81

      • Translational

        • .88


Merging data cont8 l.jpg
Merging Data (Cont)

  • Equation

    • (Sensor1*weight1 + Sensor2*weight2) / Target < 1


Demo 1 north bound using compass l.jpg
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 l.jpg
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 l.jpg
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 l.jpg
Other Problems

  • Batteries change results

  • Unable to get PAK to work

  • Unable to use floating point


Refinements l.jpg
Refinements

  • Forty pin OOPic connecter

  • Pad per hole PCB

  • Five pin encoder connecter

  • Socket for accelerometer

  • Used analog mode for accelerometer

  • Software


Conclusion l.jpg
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 l.jpg
Deliverables

  • Project Proposal

  • Implementation Notes

  • User’s Manual

  • Course Debrief

  • Notebooks

  • Robot

  • CD containing all files


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