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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.
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.
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?
=
=
= ()
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.
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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( )
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.
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.
2 rotations
Find the current heading of the movement.
= . ( )
= ( )
= .
= .
PROBLEM:
= ???
=
= .
= .
SOLUTION:
=
( )
(. )
=
. ( )
(. ) = (. ())
(. ) = (. )
(. ) = .
(. ) .
=
. .
= .
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
= =
= =
= () = ( )
=
= ()
= +
= () +
= =
= =
= () = ( )
SOLUTION: