1. Final Demonstration: Dead Reckoning System for Mobile Robots Lee FithianSteven Parkinson Ajay JosephSaba Rizvi

2. Problem Statement  Dead reckoning is navigation based on measurements of distance traveled from a known point.  Use a mobile robot and develop a synthesized dead reckoning navigation algorithm.  We will integrate various sensors.

3. Robot and Sensors  MARK III Robot with OOPic Chip  MEMS Accelerometer  MEMS Gyroscope  Shaft Encoders  Digital Compass

4. Algorithms We Tested  North Bound using Compass  Turning using Gyroscope  Turning using Encoders  Turning using Compass  Encoder x,y Movement

5. Algorithms We Tested (Cont)  Accelerometer x,y Movement  One-Direction using Accelerometer and Encoders  Turning using Encoders and Gyroscope  X, Y Path integrating sensors  Z Path using all sensors

6. Merging Data  Accelerometer and Encoders data merged for translations  Gyroscope and Encoders data merged for rotations  Weights found for each sensor by calculating percent errors

7. Merging Data (Cont)  Weights  Gyroscope - Rotational  CW –.11  CCW –.19  Accelerometer - Translational .12  Encoder  Rotational CW –.89 CCW –.81  Translational.88

8. Merging Data (Cont)  Equation  (Sensor 1 *weight 1 + Sensor 2 *weight 2 ) / Target < 1

9. DEMO 1: North Bound Using Compass  Robot will turn and travel towards north where ever it is initially pointing

10. DEMO 2: Z-Path integrating sensors  Uses combination of all sensors  Fusion of sensors ORANGE – gyroscope turns 90 degrees, CW RED – accelerometer travels 56 cm BLUE – encoder turns 150 degrees, CCW GREEN – encoder travels 64 cm BLACK – gyroscope and encoder merged to turn 150 degrees, CW PURPLE – accelerometer and encoder merged to travel 56 cm

11. Problems With Each Sensor  Accelerometer - Converting values - Unable to use Digital signal  Encoder - Mounting on Robot in an aesthetic manner  Gyroscope - Analog signal sensitive to noise - Converting values  Compass - Accuracy is very dependent on environment

12. Other Problems  Batteries change results  Unable to get PAK to work  Unable to use floating point

13. Refinements  Forty pin OOPic connecter  Pad per hole PCB  Five pin encoder connecter  Socket for accelerometer  Used analog mode for accelerometer  Software

14. 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.  Analysis  Numerical analysis of accuracy of navigation method.

15. Deliverables  Project Proposal  Implementation Notes  User ’ s Manual  Course Debrief  Notebooks  Robot  CD containing all files