logging in or signing up dead reckon proposal Jeremiah 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: 263 Category: Education 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 Dead Reckoning System for Mobile Robots: Dead Reckoning System for Mobile Robots Lee Fithian Steven Parkinson Ajay Joseph Saba Rizvi Dead Reckoning: Dead Reckoning Navigation Method used for Centuries Based on Measurements of Distance Traveled from a Known Point Used by Columbus to Discover the New World Robots used Dead Reckoning Based on Odometers, AccelerometersProblem Statement: Problem Statement Use a mobile robot to compare accuracy of dead reckoning using odometers and accelerometers The goal is not for us to build a robot The robot is the means by which we will reach our goal.Objective 1: Construct: Objective 1: Construct Assemble a robot capable of Following a specified path using odometers Odometers based on a shaft encoder and a microcontroller Following a specified path using accelerometers and microcontroller Interfacing with a PC for programming and path data entryObjective 2: Experiment: Objective 2: Experiment Specify a path for the robot to follow Record the path the robot actually follows Path specified will be drawn on butcher paper Robot will drag a marker indicating its actual path Objective 3: Analyze: Objective 3: Analyze A grid will be drawn on the butcher paper used for trials Create a numerical comparison of accuracy between two navigation methods Area between actual path and specified path can be calculatedMethod of Solution: Method of Solution Based on a Mark III Kit robot (pictured) Modifications: Shaft Encoders on each axle Accelerometers added Scoop removed Marker mount addedMethod of Solution: Method of Solution OOPic Microcontroller Programmed using Java, C or VB Serial Interface EEPROM Onboard Well Defined Programming InterfaceMethod of Solution: Method of Solution 600CS-ND Incremental Shaft Encoders Clarostat Manufacturing Co. Digital Output 128 Pulses Per Revolution ADXL202E Accelerometer From Analog Devices Digital Output ± 2g Range, 200 mg accuracyValidation: Validation Need 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 Analysis: Cost Analysis Shaft Encoders: 2 @ $46.14 Mark III Complete Kit $98.00 Includes OOPic Accelerometer Kit $23.00 Total Cost: $360.06PERT Diagram: PERT DiagramConclusion: Conclusion Construction Mark III based robot with shaft encoders and accelerometers 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 which navigation method performs better. You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
dead reckon proposal Jeremiah 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: 263 Category: Education 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 Dead Reckoning System for Mobile Robots: Dead Reckoning System for Mobile Robots Lee Fithian Steven Parkinson Ajay Joseph Saba Rizvi Dead Reckoning: Dead Reckoning Navigation Method used for Centuries Based on Measurements of Distance Traveled from a Known Point Used by Columbus to Discover the New World Robots used Dead Reckoning Based on Odometers, AccelerometersProblem Statement: Problem Statement Use a mobile robot to compare accuracy of dead reckoning using odometers and accelerometers The goal is not for us to build a robot The robot is the means by which we will reach our goal.Objective 1: Construct: Objective 1: Construct Assemble a robot capable of Following a specified path using odometers Odometers based on a shaft encoder and a microcontroller Following a specified path using accelerometers and microcontroller Interfacing with a PC for programming and path data entryObjective 2: Experiment: Objective 2: Experiment Specify a path for the robot to follow Record the path the robot actually follows Path specified will be drawn on butcher paper Robot will drag a marker indicating its actual path Objective 3: Analyze: Objective 3: Analyze A grid will be drawn on the butcher paper used for trials Create a numerical comparison of accuracy between two navigation methods Area between actual path and specified path can be calculatedMethod of Solution: Method of Solution Based on a Mark III Kit robot (pictured) Modifications: Shaft Encoders on each axle Accelerometers added Scoop removed Marker mount addedMethod of Solution: Method of Solution OOPic Microcontroller Programmed using Java, C or VB Serial Interface EEPROM Onboard Well Defined Programming InterfaceMethod of Solution: Method of Solution 600CS-ND Incremental Shaft Encoders Clarostat Manufacturing Co. Digital Output 128 Pulses Per Revolution ADXL202E Accelerometer From Analog Devices Digital Output ± 2g Range, 200 mg accuracyValidation: Validation Need 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 Analysis: Cost Analysis Shaft Encoders: 2 @ $46.14 Mark III Complete Kit $98.00 Includes OOPic Accelerometer Kit $23.00 Total Cost: $360.06PERT Diagram: PERT DiagramConclusion: Conclusion Construction Mark III based robot with shaft encoders and accelerometers 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 which navigation method performs better.