Final Demonstration: Dead Reckoning System for Mobile RobotsProblem StatementRobot and SensorsAlgorithms We TestedAlgorithms We Tested (Cont)Merging DataMerging Data (Cont)Slide 8DEMO 1: North Bound Using CompassDEMO 2: Z-Path integrating sensorsProblems With Each SensorOther ProblemsRefinementsConclusionDeliverablesFinal Demonstration:Dead Reckoning System for Mobile RobotsLee Fithian Steven ParkinsonAjay Joseph Saba RizviProblem StatementDead 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 SensorsMARK III Robot with OOPic ChipMEMS AccelerometerMEMS GyroscopeShaft EncodersDigital CompassAlgorithms We TestedNorth Bound using Compass Turning using GyroscopeTurning using EncodersTurning using CompassEncoder x,y MovementAlgorithms We Tested (Cont)Accelerometer x,y MovementOne-Direction using Accelerometer and EncodersTurning using Encoders and GyroscopeX, Y Path integrating sensorsZ Path using all sensorsMerging DataAccelerometer and Encoders data merged for translationsGyroscope and Encoders data merged for rotationsWeights found for each sensor by calculating percent errorsMerging Data (Cont)WeightsGyroscope - RotationalCW – .11CCW – .19Accelerometer - Translational.12EncoderRotationalCW – .89CCW – .81Translational.88Merging Data (Cont)Equation(Sensor1*weight1 + Sensor2*weight2) / Target < 1DEMO 1:North Bound Using CompassRobot will turn and travel towards north where ever it is initially pointingDEMO 2: Z-Path integrating sensorsUses combination of all sensorsFusion of sensorsORANGE – gyroscope turns 90 degrees, CWRED – accelerometer travels 56 cmBLUE – encoder turns 150 degrees, CCWGREEN – encoder travels 64 cmBLACK – gyroscope and encoder merged to turn 150 degrees, CWPURPLE – accelerometer and encoder merged to travel 56 cmProblems With Each SensorAccelerometer - Converting values - Unable to use Digital signalEncoder - Mounting on Robot in an aesthetic mannerGyroscope - Analog signal sensitive to noise - Converting valuesCompass - Accuracy is very dependent on environmentOther ProblemsBatteries change resultsUnable to get PAK to workUnable to use floating pointRefinementsForty pin OOPic connecterPad per hole PCBFive pin encoder connecterSocket for accelerometerUsed analog mode for accelerometerSoftwareConclusionConstructionMark III based robot with shaft encoders, accelerometers, compass, gyroscopeValidation to ensure systems work at a basic levelExperimentationUse dead reckoning navigation in trials.AnalysisNumerical analysis of accuracy of navigation method.DeliverablesProject ProposalImplementation NotesUser’s ManualCourse DebriefNotebooksRobotCD containing all
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