1. Dead Reckoning System for Mobile Robots Lee FithianSteven Parkinson Ajay JosephSaba Rizvi

2. Dead Reckoning  Navigation Method used for Centuries  Based on Measurements of Distance Traveled from a Known Point  Used by Columbus to Discover the New World  Robots used Dead Reckoning Based on Odometers, Accelerometers

3. Problem Statement  Use a mobile robot to compare accuracy of dead reckoning using odometers and accelerometers  The goal is not for us to build a robot  The robot is the means by which we will reach our goal.

4. Objective 1: Construct  Assemble a robot capable of  Following a specified path using odometers  Odometers based on a shaft encoder and a microcontroller  Following a specified path using accelerometers and microcontroller  Interfacing with a PC for programming and path data entry

5. Objective 2: Experiment  Specify a path for the robot to follow  Record the path the robot actually follows  Path specified will be drawn on butcher paper  Robot will drag a marker indicating its actual path

6. Objective 3: Analyze  A grid will be drawn on the butcher paper used for trials  Create a numerical comparison of accuracy between two navigation methods  Area between actual path and specified path can be calculated

7. Method of Solution  Based on a Mark III Kit robot (pictured)  Modifications:  Shaft Encoders on each axle  Accelerometers added  Scoop removed  Marker mount added

8. Method of Solution  OOPic Microcontroller  Programmed using Java, C or VB  Serial Interface  EEPROM Onboard  Well Defined Programming Interface

9. Method of Solution  600CS-ND Incremental Shaft Encoders  Clarostat Manufacturing Co.  Digital Output  128 Pulses Per Revolution  ADXL202E Accelerometer  From Analog Devices  Digital Output  ± 2g Range, 200 mg accuracy

10. Validation  Need to ensure the navigation systems work at some minimum level before testing.  Robot will be required to follow a simple path with a right and left turn and three runs.

11. Cost Analysis  Shaft Encoders: 2 @ $46.14  Mark III Complete Kit $98.00  Includes OOPic  Accelerometer Kit $23.00  Total Cost: $360.06

12. PERT Diagram

13. Conclusion  Construction  Mark III based robot with shaft encoders and accelerometers  Validation to ensure systems work at a basic level  Experimentation  Use dead reckoning navigation in trials.  Record trials on butcher paper  Analysis  Numerical analysis of which navigation method performs better.