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The Mobile Robot


OVERVIEW:
​​
A customized autonomous robot with the ability of exact localization in an unknown environment .
In this project , we aim to demonstrate the possibility of using  IR wheel encoders and
communicating with Robot Operating System(ROS) for location finding. An autonomous ground
vehicle must be able to locate the exact co-ordinates and navigate to it without having prior
knowledge of the environment . Considering  the starting point as reference and navigating through the
path and detecting the final co-ordinates of the mobile robot.




HARDWARE  USED:

​
Picture

BUCK CONVERTER- LM2596

​DC-DC step down voltage converter.
Picture

DC GEARED MOTORS

2 DC Johnson motors of 100 RPM were used for locomotion.Motor speed is varied using PWM (Pulse Width Modulation)
Picture

MOTOR DRIVER - L298N

Using this , we can drive 2 DC motors . Basic concept is amplifying low-current control signal.
Picture

WHEEL ENCODERS

These are used to report back the change in position hence reporting the number of revolutions each wheel has made.
Picture

Raspberry pi zero w

                   This is basically the brain of the bot communicating with motor driver, wheel encoders.

SOFTWARE USED:

Picture

VNC VIEWER

Remotely accessing raspberry pi zero w.
Picture

​Robot Operating System

ROS is an advanced platform for message passing. It consists 
of publishers and subscribers for many to many communication.


​
​
  
  

​MATHEMATICAL  FORMULATION :

     

Suppose that at sampling interval I the left and right wheel encoders show a pulse increment of  NL  and  NR respectively. Suppose further that

C = π*D/n*Ce

where
C -  Conversion factor that translates encoder pulses into linear wheel displacement.
D - Nominal wheel diameter (in mm).
n - Gear ratio of the reduction gear between the motor (where the encoder is attached)
        and the drive wheel.
Ce - Encoder resolution (in pulses per revolution).

We can compute the incremental travel distance for the left and right wheel UL,I  and  UR,I   according to :

                 UL/R,I       =     CNL/R,I

and the incremental linear displacement of the robot's center-point, J according to

                J = ( UL,I   +  UR,I )/2

Next, we compute the robot's incremental change of orientation
  
                   Ø = (  UR,I   -    UL,I  )/b

where b is the wheelbase of the vehicle, ideally measured as the distance between the two contact points between the wheels and the floor.
The robot's new relative orientation Ø I  can be computed from
                          
                                     ØI = ØI-1    + Ø

and the relative position of the center-point is
                        
                      XI  =    XI -1  +  J cosØI
                           YI  =     YI-1    +   J sinØI

 where
XI   ,   YI   - relative position of the robot's center-point at instant I.


​

​
       
You can check out our code from this GitHub Repository
For a live demo of our project, you can refer this video:

TEAM MEMBERS:

Abhay Khandelwal   
   Khush Agrawal   ​
Ameya Talatule
 Shreyash Sonawane


TEAM MENTORS:

​Akshay R Kulkarni
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  • Our Lab
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    • Alumni >
      • Batch 2014
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    • Core Coordinators
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