Beta 1

Title Positioning using SunSPOT
Author Sørensen, Morten Christian
Supervisor Løvengreen, Hans Henrik (Embedded Systems Engineering, Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Bachelor thesis
Year 2010
Abstract Dead reckoning is a really hard challenge, that many robot builders will eventually face. A solution to this challenge might be to attach a SunSPOT to the robot, and let it calculate the position. If a large amount of data has to be transmitted back and forth to the SunSPOT, it will have a major impact on the time between each calculation of the position. Because a low time is preferred, the data transmission and the sampling should not happen at the same time. If only a very small amount of data is needed to be transmitted, such as the current coordinates at some regular interval, the data sampling and transmission could happen at the same time. Tests shows that a hard movement gives the most precise result compared to a slow movement. Tests also shows that the most accurate method for reading the acceleration, is using the size of the resulting absolute acceleration vector when putting the acceleration for x-, y- and z-axis together. Over a distance of half a meter, it was the most consistent and the most accurate. Over larger distances, the drift in the accelerometers will ruin the result and constant recalibrating is needed to keep it down. With more stable accelerometers, this might have been a great solution to dead reckoning, but the current drift will render it impossible.
Imprint Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Series IMM-B.Sc.-2010-21
Original PDF bac10_21.pdf (3.78 MB)
Admin Creation date: 2010-06-25    Update date: 2010-06-25    Source: dtu    ID: 264093    Original MXD