Dead Reckoning System for Mobile Robots Lee Fithian

Dead Reckoning System for Mobile Robots Lee Fithian Ajay Joseph Steven Parkinson 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 ® Robots used Dead Reckoning Based on Odometers, Accelerometers

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.

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

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

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

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

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

Method of Solution ® 600 CS-ND Incremental Shaft Encoders ® Clarostat Manufacturing Co. ® Digital Output ® 128 Pulses Per Revolution ® ADXL 202 E ® From Accelerometer Analog Devices ® Digital Output ® ± 2 g Range, 200 mg accuracy

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.

Cost Analysis ® Shaft Encoders: 2 @ $46. 14 ® Mark III Complete Kit $98. 00 ® Includes OOPic ® Accelerometer ® Total Kit $23. 00 Cost: $360. 06

PERT Diagram

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.