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HAND OUT #1

Robotics Navigation- Dead-Reckoning and Odomtery


SCIENCE 10- Robotics
1st Trimester, AY 2017-2018

Class No.: _______ Name: ______________________________________________________


Gr./Sec.: ________ Teacher:______________________________ Date:_________________
ROBOTICS NAVIGATION

Odometry, Motion Plan, and Dead- Reckoning

Odometry

Is the use of data from the Motion Sensor to estimate changes in position. Two possible way to
know the state of the robot is to use External or Internal Sensors.

EXTERNAL -- GPS (Global Positioning System) Drones


INTERNAL Motor Sensors Servo Motors

Lego Mindstorms EV3 uses motor encoders data (degree readings) for calculated
movements.

The distance moved by the robot depends on the speed when the movement units are in time
duration, if the quantity of time is constant.

When the movement units of the robot are constant (constant number of rotation/degrees), the
distance moved by the robot will be affected by the diameter of the wheel.

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
Circumference

Linear distance or total distance around the circle.

If the diameter is 1 cm, the circumference of the wheel (circle) is 3.14..

Which is also the distance travelled (td) in 1 wheel rotation

HAND-OUT ACTIVITY No. 1

1. The diameter of the wheel is 5 cm and it rotates for 4 times, what is the distance
travelled by the robot?
2. The robot travels 50 cm in 4 wheel rotation, what is the circumference of the wheel?

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
General Formula: Linear Movement


=

=

= ()

TURNING: Point Turn (Turning in Place)

The dimension of the robot affects the required number of rotations in turning.

As the robot turns, the wheels form a circle with a diameter equal to the width of the robot.

In Turning formula, we have 2 Expressions:

when a robot has made a point turn of 360 degrees, each wheel has travelled a distance
equal to the circumference of the robot (circumference). Thus, when the robot has turned ,
one wheel has travelled a distance (td).

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
Derivation (Point Turn) Formula:

( )
= =

( )
= = ( )

( )
=
( ) ( )


=
( )

INACCURACY: EV3 or NXT Servo Motors

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
Motion Planning:

Also known as Navigation Problem or the


Piano Movers Problem, is a term used in
robotics for breaking down desired of a robot
travelling from Start Goal into discrete
motions for avoiding obstacle collisions and
possibly optimize some aspect of the
movement.

The basic understanding of Motion Planning is


to: find a path that moves the robot gradually
from Start to Goal while not touching any
obstacles.

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
LOCALIZATION: Dead Reackoning

Localization techniques provides two basic information. (1) the Robots Current Location in an
environment (2) the robots Current Orientation (current heading) in that same environment.

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
Dead-reckoning is the process of calculating ones current position by using a previously
determined position, or fix and advancing that position based upon known or estimated
speed over elapsed time and course.

In Maritime
Navigation,
dead-reckoning
begins with a
known position
(or fixed), which is
then advanced
mathematically
or directly on the
chart, by means
of recorded
heading, speed
and time.

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
DEAD-RECKONING using ODOMETRY

2 rotations
Find the current heading of the movement.

Solve for the turning angle () given the .

= . ( )

= ( )

= .

= .

PROBLEM:

= ???
=

= .

= .

SOLUTION:


=
( )

(. )
=
. ( )

(. ) = (. ())

(. ) = (. )

(. ) = .

(. ) .
=
. .

= .

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
COORDINATES

Well come up with a formula to get the coordinates of the robot, given the angle () and
distance travelled (td). We can draw a right triangle in a grid and further solve for the
coordinates using Trigonometric Functions

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana

=

= ()
= +
= () +

= =
= =
= () = ( )


=

= ()
= +
= () +

= =
= =
= () = ( )

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
PROBLEM:

Solve for the ending coordinates:

SOLUTION:

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana
HAND OUT CHALLENGE 1:

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Robotics 10
1st Trimester, AY 2017-2018
Mr. Morris C. Bana

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