Download presentation
Presentation is loading. Please wait.
Published byAna María Lara Rojas Modified over 6 years ago
1
Sensors for industrial mobile Robots Incremental sensors
Need more/better pictures
2
Magnetic encoders More reliable Less expensive
Less accurate than optical Less resolution (BUT can be used interpolators)
3
Magnetic encoders To sense direction
4
Interpolation to multiply resolution
A considerably higher resolution of angle φ is possible if we apply the interpolation process described in Figure. The graphic representation of sin(φ) versus cos(φ) produces a circle as a special Lissajous figure in which angle φ is immediately recognizable. The interpolator now compares the current angle value φ0 with predefined discrete angle positions and as a result generates the matching quadrature signals A and B.
5
A complete scheme with interpolator
6
Gyroscope – fiber optic
7
Gyroscope vibrating Coriolis force:
8
Example: Use of encoders + gyro
Steering encoder gyro Traction encoder … my first AGV prototype
9
The discrete form of the inertial-odometric navigation equations is as follows:
Use of encoders + gyro
10
Use of encoders + gyro
11
We have two separate estimations of the attitude so we have to combine them in a suitable (possibly optimum) way. To achieve this the two attitude increments are combined by a data-fusion algorithm in order to estimate the best guess for the two. The procedure is as follows: the two increments are estimated, the type of manoeuvre the vehicle is actually undergoing is estimated using the inertial-odometric data (table 2), the accuracy ratio of the output of the two navigation systems is estimated using table 1 the data fusion algorithm combines the two increments the output of the data-fusion algorithm is added to δk Use of encoders + gyro
12
Step 1 – attitude increments est.
13
Step 2 – manoeuvre estimation
14
Bayes Fusion (optimum in case of Gaussian white noise)
Step 3 – data fusion
15
Step 4 – accuracy ratio estimation
the accuracy ratio of the output of the two navigation systems is estimated using table 1 Step 4 – accuracy ratio estimation
16
Step 5 – add the increment
the output of the data-fusion algorithm is added to δk: Step 5 – add the increment
Similar presentations
© 2025 SlidePlayer.com. Inc.
All rights reserved.