Dead Reckoning System for Mobile RobotsDead ReckoningProblem StatementObjective 1: ConstructObjective 2: ExperimentObjective 3: AnalyzeMethod of SolutionSlide 8Slide 9ValidationCost AnalysisPERT DiagramConclusionDead Reckoning System for Mobile RobotsLee Fithian Steven ParkinsonAjay Joseph Saba RizviDead ReckoningNavigation Method used for CenturiesBased on Measurements of Distance Traveled from a Known PointUsed by Columbus to Discover the New WorldRobots used Dead Reckoning Based on Odometers, AccelerometersProblem StatementUse a mobile robot to compare accuracy of dead reckoning using odometers and accelerometersThe goal is not for us to build a robotThe robot is the means by which we will reach our goal.Objective 1: ConstructAssemble a robot capable ofFollowing a specified path using odometersOdometers based on a shaft encoder and a microcontrollerFollowing a specified path using accelerometers and microcontrollerInterfacing with a PC for programming and path data entryObjective 2: ExperimentSpecify a path for the robot to followRecord the path the robot actually followsPath specified will be drawn on butcher paperRobot will drag a marker indicating its actual pathObjective 3: AnalyzeA grid will be drawn on the butcher paper used for trialsCreate a numerical comparison of accuracy between two navigation methodsArea between actual path and specified path can be calculatedMethod of SolutionBased on a Mark III Kit robot (pictured)Modifications:Shaft Encoders on each axleAccelerometers addedScoop removedMarker mount addedMethod of SolutionOOPic MicrocontrollerProgrammed using Java, C or VBSerial InterfaceEEPROM OnboardWell Defined Programming InterfaceMethod of Solution600CS-ND Incremental Shaft EncodersClarostat Manufacturing Co.Digital Output128 Pulses Per RevolutionADXL202E AccelerometerFrom Analog DevicesDigital Output± 2g Range, 200 mg accuracyValidationNeed to ensure the navigation systems work at some minimum level before testing.Robot will be required to follow a simple path with a right and left turn and three runs.Cost AnalysisShaft Encoders: 2 @ $46.14Mark III Complete Kit $98.00Includes OOPicAccelerometer Kit $23.00Total Cost: $360.06PERT DiagramConclusionConstructionMark III based robot with shaft encoders and accelerometersValidation to ensure systems work at a basic levelExperimentationUse dead reckoning navigation in trials.Record trials on butcher paperAnalysisNumerical analysis of which navigation method performs
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