Absolutpositionering av mobil robot med hjälp av optisk mus 2004 (Svenska)Självständigt arbete på grundnivå (kandidatexamen)Studentuppsats (Examensarbete)

Abstract [sv]

When positioning a mobile robot, it’s vital to have knowledge of the robots previous, present and oncoming position. Missing out on any of these will result in the robot losing track of its course and therefore being unusable, i.e. the robot will not be able to carry out its duties. Currently used methods for positioning a robot have their strengths and weaknesses, and a more precise and reliable method is desired by many scientists in this area. A widespread method used when determining the position of a robot is the method of dead-reckoning. One of the more common tool used in dead-reckoning is the wheel-encoder. As the wheel-encoder is very sensitive against interferences, where spinning wheels is one of the major sources of error, this project aims to replace, or at least complement, the wheel-encoder with a new improved method of positioning. The new positioning method uses the technology in optical computer mice to detect and determine movements. The optical computer mouse uses optical flow to calculate the movement of the surface below it. The Optical flow method does not respond negative against the same interferences as the wheel-encoder does. It is therefore this benefit the project wishes to examine. The optical computer mouse uses either USB or PS/2-traffic when communicating with the computer. Wanting the incoming data traffic to be more understandable and easier to handle, the data traffic was converted into the serial RS-232 data traffic protocol. This report presents the encountered problems and solutions all through the project. In order to reach the best possible results, a thorough background study was performed at first. This showed that a few similar projects were previously carried out, although none of them in Sweden. Early conducted tests using optical flow as a positioning method for a mobile robot indicated very promising results. By altering the hardware used. The final outcome of this project successfully presented a method for positioning a mobile robot using an optical mouse. The report points out a few improvements needed to be done. Improvements like increasing the reading distance of the optical mouse, as the optical mouse in its original appearance has to lay flat against the surface to work, is one of the main obstacles to overcome when trying to replace the wheel encoder. A method of making reading against uneven surfaces, like growing fields and asphalt, is also clearly necessary.

Ort, förlag, år, upplaga, sidor

2004.

Nyckelord [sv]

optical flow, absolutpositionering, USB, PS/2, PS2, RS-232, RS232, dödräkning, dead-reckoning, Texas DSP, wheel encoder, hjulenkoder

Identifikatorer

URN: urn:nbn:se:hh:diva-11805Lokalt ID: U10835OAI: oai:DiVA.org:hh-11805DiVA, id: diva2:366944

Uppsök

teknik

Anmärkning

Denna uppsats kan beställas från arkivet / This paper can be ordered from the archive. Kontakta / Contact: arkivet@hh.seTillgänglig från: 2010-11-09 Skapad: 2010-11-09 Senast uppdaterad: 2025-10-01Bibliografiskt granskad

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Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE)

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