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Dead Reckoning System for Mobile Robots

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Dead Reckoning System for Mobile Robots. Lee Fithian Steven Parkinson Ajay Joseph Saba Rizvi. 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

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Dead Reckoning System for Mobile Robots

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  1. Dead Reckoning System for Mobile Robots Lee Fithian Steven Parkinson Ajay Joseph Saba Rizvi

  2. 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, Accelerometers

  3. 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.

  4. 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 entry

  5. 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

  6. 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 calculated

  7. Method of Solution • Based on a Mark III Kit robot (pictured) • Modifications: • Shaft Encoders on each axle • Accelerometers added • Scoop removed • Marker mount added

  8. Method of Solution • OOPic Microcontroller • Programmed using Java, C or VB • Serial Interface • EEPROM Onboard • Well Defined Programming Interface

  9. 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 accuracy

  10. 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.

  11. Cost Analysis • Shaft Encoders: 2 @ $46.14 • Mark III Complete Kit $98.00 • Includes OOPic • Accelerometer Kit $23.00 • Total Cost: $360.06

  12. PERT Diagram

  13. 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.

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