dead reckon cdr

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Published on January 7, 2008

Author: Barbara

Source: authorstream.com

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 changed Accelerometer :  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 encoder Shaft 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:  Compass Merging Data:  Merging Data Average positions calculated from sensors Weighted average of positions calculated from sensors Use sensors calculations for certain tasks and scale the results Problems:  Problems Basic Misunderstanding of problem statement OOPic limitations Counter usage, frequency generator Delay of parts Building robot vs. assembly of robot Changes:  Changes Added sensors Compass, gyroscope Upgraded OOPic Memory, Faster uC Added protoboard Switched to rechargeable batteries Integrated sensor for position calculation Circuit Diagram:  Circuit Diagram Conclusion:  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.

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