Robot orientation control using digital compasses

Marcu, C.; Lazea, Gheorghe; Bordencea, Daniela; Lupea, Diana; Vălean, Honoriu

doi:10.1109/icstcc.2013.6688981

Cited by 2 publications

(2 citation statements)

References 8 publications

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“…In order to improve accuracy and get a significant change in change of angle, we used GY-271 electronic compass [10]. This is a digital compass module that can be used to find the angle with respect to the Earth's magnetic field.…”

Section: Gps Trackingmentioning

confidence: 99%

Safe sailing: GSM and GPS controlled autonomous boat with overweight detection and obstacle avoidance

Arnob

Khan

Shelim

et al. 2019

IJEECS

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<span>This paper aims to save thousands of lives by proposing a novel technique of ensuring the complete safety of medium-sized aquatic vehicles using innovative ideas as well as augmented adaptations of myriad existing technologies. The proposed system incorporates a warning and danger level detection circuit using transistors for switching purposes when the vehicles are overloaded, and a Global System for Mobile (GSM) based module so that the control room can receive alerts and control the engines of such vehicles centrally. A system for detecting and avoiding obstacles is made using ultrasonic radar with ultrasonic transducer JSN SR04t mounted on top of SG90 servo arm which rotates to detect any obstacles. When an obstacle is detected, two other ultrasonic sensors SR-04 gets activated which are placed on two sides of the aquatic vehicle and the ultrasonic transducer becomes fixed on the exact centre. All the three sensors work together to find a free path for the boat to travel. If there is no free path, the boat will stop and wait for the paths to get cleared. The location of the vehicle is tracked by the Global Positioning System (GPS) and a Proportional-Integral-Derivative (PID) controller has been included along with a system which uses values from the GPS module to come back to its original path if it deviates from the original path when avoiding obstacles. A barcode system has been added where it keeps a count on the passengers. The tickets for the vehicle will have barcodes on them which will let the passengers in only if the barcode matches. This is used mainly to keep track of how many people are boarding the vehicle and to prevent those without tickets from boarding.</span>

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Section: Gps Trackingmentioning

confidence: 99%

Safe sailing: GSM and GPS controlled autonomous boat with overweight detection and obstacle avoidance

Arnob

Khan

Shelim

et al. 2019

IJEECS

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“…One of the fundamental aspects of any mobile robotic system is the determination of the correct orientation for stabilizing itself and reaching the goal position. To obtain the orientation angle, there are some existing methods, including the use of a camera for visual orientation tracking [17,18], omni-directional imaging [19], accelerometers and gyros [20], fish-eye lenses [21], digital compasses [22], distance sensors [23], pointed targets [24], segmented maps [25], and other methods [26]. There are some existing robots that can function without any orientation sensors as well [27].…”

Section: Introductionmentioning

confidence: 99%

Multi-Sensor Orientation Tracking for a Façade-Cleaning Robot

Vega-Heredia

Ilyas

Ghanta

et al. 2020

Sensors

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Glass-façade-cleaning robots are an emerging class of service robots. This kind of cleaning robot is designed to operate on vertical surfaces, for which tracking the position and orientation becomes more challenging. In this article, we have presented a glass-façade-cleaning robot, Mantis v2, who can shift from one window panel to another like any other in the market. Due to the complexity of the panel shifting, we proposed and evaluated different methods for estimating its orientation using different kinds of sensors working together on the Robot Operating System (ROS). For this application, we used an onboard Inertial Measurement Unit (IMU), wheel encoders, a beacon-based system, Time-of-Flight (ToF) range sensors, and an external vision sensor (camera) for angular position estimation of the Mantis v2 robot. The external camera is used to monitor the robot’s operation and to track the coordinates of two colored markers attached along the longitudinal axis of the robot to estimate its orientation angle. ToF lidar sensors are attached on both sides of the robot to detect the window frame. ToF sensors are used for calculating the distance to the window frame; differences between beam readings are used to calculate the orientation angle of the robot. Differential drive wheel encoder data are used to estimate the robot’s heading angle on a 2D façade surface. An integrated heading angle estimation is also provided by using simple fusion techniques, i.e., a complementary filter (CF) and 1D Kalman filter (KF) utilizing the IMU sensor’s raw data. The heading angle information provided by different sensory systems is then evaluated in static and dynamic tests against an off-the-shelf attitude and heading reference system (AHRS). It is observed that ToF sensors work effectively from 0 to 30 degrees, beacons have a delay up to five seconds, and the odometry error increases according to the navigation distance due to slippage and/or sliding on the glass. Among all tested orientation sensors and methods, the vision sensor scheme proved to be better, with an orientation angle error of less than 0.8 degrees for this application. The experimental results demonstrate the efficacy of our proposed techniques in this orientation tracking, which has never applied in this specific application of cleaning robots.

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Robot orientation control using digital compasses

Cited by 2 publications

References 8 publications

Safe sailing: GSM and GPS controlled autonomous boat with overweight detection and obstacle avoidance

Safe sailing: GSM and GPS controlled autonomous boat with overweight detection and obstacle avoidance

Multi-Sensor Orientation Tracking for a Façade-Cleaning Robot

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