logging in or signing up dead reckon cdr Barbara Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 150 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: January 07, 2008 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Critical Design Review: Dead Reckoning System for Mobile Robots: Critical Design Review: Dead Reckoning System for Mobile Robots Lee Fithian Steven Parkinson Ajay Joseph Saba Rizvi Problem Statement: Problem Statement Use a mobile robot and develop a synthesized navigation algorithm. We will integrate various sensors.Modules: Modules Sensor Interface Produces output from the electrical inputs it receives; x-, y-distance traveled & heading Navigation Allows for different methods to be used regardless of input and output needs Movement Controls motors; can be modified if motors are changedAccelerometer : Accelerometer Accelerometer: Accelerometer Created an algorithm that changes electrical output into position data. A(g) = (T1/T2 – 0.5)/12.5% Pos = (A(g) * t^2)/2 Pos = PosStart + PosNew Shaft encoder: Shaft encoderShaft Encoder: Shaft Encoder D = (Left D + Right D) / 2 Θ = (Left D – Right D) / b X = D * cos(Θ) Y = D * sin(Θ) Gyroscope : Gyroscope Compass: CompassMerging Data: Merging Data Average positions calculated from sensors Weighted average of positions calculated from sensors Use sensors calculations for certain tasks and scale the resultsProblems: Problems Basic Misunderstanding of problem statement OOPic limitations Counter usage, frequency generator Delay of parts Building robot vs. assembly of robotChanges: Changes Added sensors Compass, gyroscope Upgraded OOPic Memory, Faster uC Added protoboard Switched to rechargeable batteries Integrated sensor for position calculationCircuit Diagram: Circuit DiagramConclusion: 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. Record trials on butcher paper Analysis Numerical analysis of accuracy of navigation method. You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
dead reckon cdr Barbara Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 150 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: January 07, 2008 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Critical Design Review: Dead Reckoning System for Mobile Robots: Critical Design Review: Dead Reckoning System for Mobile Robots Lee Fithian Steven Parkinson Ajay Joseph Saba Rizvi Problem Statement: Problem Statement Use a mobile robot and develop a synthesized navigation algorithm. We will integrate various sensors.Modules: Modules Sensor Interface Produces output from the electrical inputs it receives; x-, y-distance traveled & heading Navigation Allows for different methods to be used regardless of input and output needs Movement Controls motors; can be modified if motors are changedAccelerometer : Accelerometer Accelerometer: Accelerometer Created an algorithm that changes electrical output into position data. A(g) = (T1/T2 – 0.5)/12.5% Pos = (A(g) * t^2)/2 Pos = PosStart + PosNew Shaft encoder: Shaft encoderShaft Encoder: Shaft Encoder D = (Left D + Right D) / 2 Θ = (Left D – Right D) / b X = D * cos(Θ) Y = D * sin(Θ) Gyroscope : Gyroscope Compass: CompassMerging Data: Merging Data Average positions calculated from sensors Weighted average of positions calculated from sensors Use sensors calculations for certain tasks and scale the resultsProblems: Problems Basic Misunderstanding of problem statement OOPic limitations Counter usage, frequency generator Delay of parts Building robot vs. assembly of robotChanges: Changes Added sensors Compass, gyroscope Upgraded OOPic Memory, Faster uC Added protoboard Switched to rechargeable batteries Integrated sensor for position calculationCircuit Diagram: Circuit DiagramConclusion: 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. Record trials on butcher paper Analysis Numerical analysis of accuracy of navigation method.