tailieunhanh - Mobile Robots Current Trends Part 3

Tham khảo tài liệu 'mobile robots current trends part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 3 The KCLBOT A Framework of the Nonholonomic Mobile Robot Platform Using Double Compass Self-Localisation Evangelos Georgiou Jian Dai and Michael Luck King s College London United Kingdom 1. Introduction The key to effective autonomous mobile robot navigation is accurate self-localization. Without self-localization or with inaccurate self-localization any non-holonomic autonomous mobile robot is blind in a navigation environment. The KCLBOT 1 is a non-holonomic two wheeled mobile robot that is built around the specifications for Micromouse Robot and the RoboCup competition. These specifications contribute to the mobile robot s form factor and size. The mobile robot holds a complex electronic system to support on-line path planning self-localization and even simultaneous localization and mapping SLAM which is made possible by an onboard sensor array. The mobile robot is loaded with eight Robot-Electronics SRF05 2 ultrasonic rangers and its drive system is supported by Nu-botics WC-132 3 WheelCommander Motion Controller and two WW-01 4 WheelWatcher Encoders. The motors for robot are modified continuous rotation servo motors which are required for the WheelCommander Motion Controller. The rotation of the mobile robot is measured by Robot-Electronics CMPS03 5 Compass Module. These two modules make the double compass configuration which supports the self-localization theory presented in this paper. Each individual module provides the bearing of the mobile robot relative to the magnetic field of the earth. The central processing for the mobile robot is managed by a Savage Innovations OOPic-R microcontroller. The OOPic-R has advanced communication modules to enable data exchange between the sensors and motion controller. Communication is managed via a serial bus and an I2C bus. The electronics are all mounted on two aluminium bases which make the square structure of the mobile robot. To support the hardware requirements of the novel localisation methodology the cutting .