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Dead reckoning using trigonometry in a dual robot system
Halmstad University, School of Information Technology.
Halmstad University, School of Information Technology.
2017 (English)Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

In this thesis fundamental pieces of multi robot systems have been discussed and researched, in order to develop and build a system with easily obtainable electronics and to answer how much communication is needed as well as which design choices are important to make it robust. Our work will hopefully contribute to others in the community who are working with Raspberry Pi and Windows 10 IoT Core by being open source. As a result a proof of concept system of two simple robots has been implemented.

In this paper we have used trigonometry and dead-reckoning for localization, when coordinating our robots a leader/follower model has been applied. The communication has been developed using the AllJoyn framework to develop an interface that has IoT capabilities.

The results show that our system has working communication and simulated localization, however the limitations in the hardware results in an error in localization which we present in this paper. To answer our research questions the amount of communication needed is dependent on the problem and how many robots you need to apply in order to solve it and the most important design choice for current multi robot systems is a controlled environment.

Place, publisher, year, edition, pages
2017. , p. 40
Keywords [en]
Robotics, Multi robot systems, Dead-reckoning, Communication
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-34469OAI: oai:DiVA.org:hh-34469DiVA, id: diva2:1118328
Subject / course
Computer science and engineering
Supervisors
Examiners
Available from: 2017-06-30 Created: 2017-06-30 Last updated: 2017-06-30Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf