IGVCSensorIntegrationForLocalization

Anthony Vardaro
May 3, 2012

IGVC Sensor Integration for Localization

Overview

This project combines the gps, magnetic compass, wheel encoders, and accelerometers to form ROS transformation frames. These frames can then be used by other systems to obtain information about the robot's position.

Photograph

Stark with shoes taken from UMass Lowell Robotics Club Website

Concepts Demonstrated

  • Multi-timescale Localization: is used to provide position data for discrete and continuous timescales.
  • Kalman Filters' are used to improve sensor data.
  • Transform frames are used to relate the position of robot with respect to the world.

Innovation

The IGVC robot does not currently have an integrated sensor package. By integrating sensor data into ROS frames other systems are easily able to obtain localization information provided by the sensors. While the concept is not innovative, performing the integration on this robot is.

Technology Used Block Diagram

Create a simple block diagram of your system that illustrates the major technical components and how they interact; e.g.:

Additional Remarks

After successfully integrating the real sensors on the IGVC robot this project will explore localization through particle filters. This would replace the Kalman filter operating on the gps data.

Anthony
May 10, 2012

    Attach:avardaro_sensorint_v2.pdf