Accession Number:

ADA164036

Title:

Gyro and Accelerometer Based Navigation System for a Mobile Autonomous Robot.

Descriptive Note:

Final rept. Jan-Dec 85,

Corporate Author:

AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING

Report Date:

1985-12-02

Pagination or Media Count:

254.0

Abstract:

A navigation system for a mobile autonomous robot is presented. The navigation system is based upon a directional gyroscope and a single axis accelerometer which enables a robot to navigate independent of wheel optical shaft encoders and other commonly used positioning apparatus. The computer controlled navigation system is capable of providing absolute heading, heading rate angular velocity, and linear velocity to a user computer. These data from the navigation system heading and velocity are used to compute the present location of the robot. In addition, the heading data is used to form a closed loop feedback control system for maintaining the robot on a desired course. The navigation system was designed specifically for application on an existing Air Force Institute of Technology AFIT robot however, it could be easily adapted to any robot system with a standard IEEE RS-232 serial communication interface. Test results are provided which demonstrate the use of closed loop heading control on the AFIT Robot and which identify problems associated with the use of an accelerometer system for distance measurement. This thesis includes all schematics, parts lists, software listings, and operating instructions for the navigation system. A new robot world modeling and path planning technique is also presented. Theses

Subject Categories:

  • Computer Programming and Software
  • Computer Hardware

Distribution Statement:

APPROVED FOR PUBLIC RELEASE