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Dead Reckoning System for Mobile Robots Lee FithianSteven Parkinson Ajay JosephSaba Rizvi
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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
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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.
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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
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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
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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
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Method of Solution Based on a Mark III Kit robot (pictured) Modifications: Shaft Encoders on each axle Accelerometers added Scoop removed Marker mount added
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Method of Solution OOPic Microcontroller Programmed using Java, C or VB Serial Interface EEPROM Onboard Well Defined Programming Interface
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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
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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.
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Cost Analysis Shaft Encoders: 2 @ $46.14 Mark III Complete Kit $98.00 Includes OOPic Accelerometer Kit $23.00 Total Cost: $360.06
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PERT Diagram
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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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