Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
ANDROID BASED SENSOR FUSION AND CONTROL NAVIGATION STRATEGY FOR A WHEELED MOBILE ROBOT
Submission Author:
Marcelo Rodrigues da Silva , SP
Co-Authors:
Marcelo Rodrigues da Silva, Elvira Rafikova
Presenter: Marcelo Rodrigues da Silva
doi://10.26678/ABCM.DINAME2017.DIN17-0150
Abstract
In this paper the android bases sensor fusion system architecture for robot navigation is presented. This system contains a position estimation module, which uses the gyroscope of an android mobile device such as the smartphone or a tablet. This device is placed on the differential steering mobile robot platform and connected via wireless network to the robots main controller. The robot performs encoder sensor reading, odometry process, embedded trajectory control and wheel actuation algorithms. The controller algorithms are based on State Dependent Riccati Equation control method and by this means the robot is steered to a reference trajectory. Numerical simulations and experiments are conducted taking as reference path a linear and circular regimes. The main contribution of this work is in the sense of unifying a powerful method of control with state estimation and sensor fusion performed with mobile based device via wireless connection.
Keywords
Sensor Fusion, android based position sensing, indoor robot navigation, SDRE position control
