Project Type: Sensor interfacing, Signal Processing, Hardware Integration, Robotics
Advisors: Ricardo Gutierrez-Osuna, Siddharth Choudhuri
The objective of this project is to design and integrate a dead-reckoning system for mobile robots based on odometry and inertial navigation. Odometry will be achieved by measuring the rotations of the wheel axles in the vehicle with potentiometers or optical encoders. The principle of operation for inertial navigation involves continuous sensing of minute accelerations in each of the two or three directional axes, and integration overtime to derive velocity and position. It is expected that the inertial navigation component will be based on commercially-available integrated MEMS accelerometers.