Fjernstyring av Legorobot - NTNU
Fjernstyring av Legorobot - NTNU
Fjernstyring av Legorobot - NTNU
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Innhold<br />
1 INNLEDNING ............................................................................................................................................................ 6<br />
2 UTGANGSPUNKT ..................................................................................................................................................... 8<br />
2.1 HARDWARE ............................................................................................................................................................... 9<br />
2.2 SOFTWARE ................................................................................................................................................................ 9<br />
2.3 KARTLEGGING OG NAVIGERING ................................................................................................................................ 9<br />
3 TEORI OG TIDLIGERE ARBEID ........................................................................................................................ 12<br />
3.1 ANDRE LEGOROBOTER VED <strong>NTNU</strong> ........................................................................................................................ 12<br />
3.2 SLAM (SIMULTANEOUS LOCATION AND MAPPING) ............................................................................................... 13<br />
3.3 NAVIGASJONSSTRATEGIER ...................................................................................................................................... 17<br />
3.4 VALG AV VIDERE FRAMGANGSMÅTE ....................................................................................................................... 18<br />
4 POSISJONERING .................................................................................................................................................... 20<br />
4.1 ODOMETRI .............................................................................................................................................................. 20<br />
4.2 OPPDATERING AV POSISJON .................................................................................................................................... 20<br />
4.3 LADESTASJONEN ..................................................................................................................................................... 21<br />
5 KARTGENERERING .............................................................................................................................................. 24<br />
5.1 TOLKNING AV NYE OBJEKTER ................................................................................................................................. 24<br />
5.2 INTEGRERING AV PUNKT- OG LINJEBASERT KART .................................................................................................... 25<br />
6 MODELLERING OG SIMULERING ................................................................................................................... 26<br />
6.1 BAKGRUNN ............................................................................................................................................................. 26<br />
6.2 UTGANGSPUNKT/TIDLIGERE ARBEID ....................................................................................................................... 28<br />
6.3 IMPLEMENTERING ................................................................................................................................................... 29<br />
6.4 BRUKERGRENSESNITT ............................................................................................................................................. 30<br />
7 NAVIGERING OG RUTEPLANLEGGING ......................................................................................................... 32<br />
7.1 DEFINERING AV UKJENTE OMRÅDER. ...................................................................................................................... 32<br />
8 OVERSIKT OVER SYSTEMET ............................................................................................................................ 36<br />
8.1 ARBEIDSFORDELING ............................................................................................................................................... 36<br />
8.2 KOMMUNIKASJONSPROTOKOLL .............................................................................................................................. 38<br />
8.3 OPTIMALISERING AV MATLAB KODE OG SANNTIDSKRAV ..................................................................................... 39<br />
9 TESTER OG RESULTATER .................................................................................................................................. 40<br />
9.1 TESTER I SIMULATOR .............................................................................................................................................. 40<br />
9.2 TESTER I EN FYSISK BANE ....................................................................................................................................... 43<br />
10 DISKUSJON .............................................................................................................................................................. 48<br />
10.1 POSISJONERING .................................................................................................................................................. 48<br />
10.2 KARTLEGGING ................................................................................................................................................... 48<br />
4