Critical Design Review: Dead Reckoning System for Mobile RobotsProblem StatementModulesAccelerometerAccelerometerShaft encoderShaft EncoderGyroscopeCompassMerging DataProblemsChangesCircuit DiagramConclusionCritical Design Review:Dead Reckoning System for Mobile RobotsLee Fithian Steven ParkinsonAjay Joseph Saba RizviProblem StatementUse a mobile robot and develop a synthesized navigation algorithm.We will integrate various sensors.ModulesI. Sensor Interface I. Produces output from the electrical inputs it receives; x-, y-distance traveled & headingII. NavigationI. Allows for different methods to be used regardless of input and output needsIII. MovementI. Controls motors; can be modified if motors are changedAccelerometerAccelerometerCreated an algorithm that changes electrical output into position data.A(g) = (T1/T2 – 0.5)/12.5%Pos = (A(g) * t^2)/2Pos = PosStart + PosNewShaft encoderShaft EncoderD = (Left D + Right D) / 2Θ = (Left D – Right D) / b X = D * cos(Θ)Y = D * sin(Θ)GyroscopeCompassMerging DataAverage positions calculated from sensorsWeighted average of positions calculated from sensorsUse sensors calculations for certain tasks and scale the resultsProblemsBasic Misunderstanding of problem statementOOPic limitationsCounter usage, frequency generatorDelay of partsBuilding robot vs. assembly of robotChangesAdded sensorsCompass, gyroscopeUpgraded OOPicMemory, Faster uCAdded protoboardSwitched to rechargeable batteriesIntegrated sensor for position calculationCircuit DiagramConclusionConstructionMark III based robot with shaft encoders, accelerometers, compass, gyroscopeValidation to ensure systems work at a basic levelExperimentationUse dead reckoning navigation in trials.Record trials on butcher paperAnalysisNumerical analysis of accuracy of navigation
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