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104 lines
3.8 KiB
104 lines
3.8 KiB
5 years ago
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= Room mapping robot.
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== Contributors
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Γαβριήλ Σίνγκ - cs131083
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Ιωνάθαν Μπαξεβανίδης - cs161083
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Κωνσταντίνος Χουτιούδης - cs141296
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== Project Description
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This was an attempt at making a "budget" [Slam]
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(Simultaneous localization and mapping) robot-vehicle, with a time of flight
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Lazer sensor.It uses the esp32 as it's brains (tons of io pins, 2 core, wifi &
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bluetooth on chip,low consumption,etc.) and a arduino nano that acts as a slave
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controling the drive tracks by taking commands from the esp32.
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== What is SLAM
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In navigation, robotic mapping and odometry for virtual reality or augmented
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reality, simultaneous localization and mapping (SLAM) is the computational
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problem of constructing or updating a map of an unknown environment while
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simultaneously keeping track of an agent's location within it
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== Working principal
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The working principal behind the robot is based on dead reckoning meaning we
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create the map as we go assuming we've started from position 0,0.Using the tof
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sensor we get measurments from all directions (360 degrees) this happens using
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the stepper motor along with the hall effect sensors so we the degree of each
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measurment great so now we can bind these values (distnace,angle) to the
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robot's postion.The problem with our particular platform was space limitations
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and the fact that the tracks are moved by dc motors some solutions on these
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problems would be if possible driving the tracks by stepper motors directly or
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otherwise so we know exactly how many steps each track has made therefore
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deducing the robots position or using photo encoders in the small dc motors
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producing the same effect.(problems with bad are also very real and can throw
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off our measurments but hey we're not supposed to send this robot on mars )
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Being able to determine our traveled distance and having 360 "accurate"
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measurments of the space traversed would enable us to construct an algorithm
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which by using these data could find a way to traverse the space creating a
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map along the way.
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== Demo video & Photos
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video::Tu37dVoCxmo[youtube,500,500]
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image:./pics/demo1.jpg[700,700]
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image:./pics/demo2.jpg[700,700]
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image:./pics/inabox.jpg[700,700]
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image:./pics/drawbox.png[700,700]
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== Parts
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- Esp32
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- Arduino Nano
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- 28BYJ-48 Stepper
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- ULN2003 Stepper Motor Driver
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- I2C Logic Level Converter
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- VL53L1X
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- Hall Sensor
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- Slip ring
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- 2x18650 Batteries
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- Battery Protection Board
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- Toy truck
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- L298N Motor Driver
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image:./pics/esp32.jpg[200,200]
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image:./pics/nano.jpg[200,200]
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image:./pics/stepper&driver.jpg[200,200]
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image:./pics/logic_level.jpg[200,200]
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image:./pics/sensor.jpg[200,200]
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image:./pics/hall.jpg[200,200]
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image:./pics/slipdisc.png[200,200]
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image:./pics/bat.jpeg[200,200]
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image:./pics/bms.jpg[200,200]
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image:./pics/truck.png[200,200]
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image:./pics/L298N.jpg[200,200]
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image:./pics/diagram.png[1000,1000]
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== Why a lazer sensor ?
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The main reason we went with a lazer sensor is because of the shorter time
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light sensors take to acquire measurements and we thought it would be more
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accurate, however it seems that the vl53L1x sensor isn't as accurate as
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expected.
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== Difficulties & things to consider
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- Acquiring location position in a room
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- Getting accurate data from budget sensors with low resolution
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- Calculating travel distance based on Dc motors
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- Maintaning electrical connections between the two rotating parts
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== Problems that managed to get solved
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=== - Getting angle of measurment
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Solution: Using a Hall sensor and a magnet to find 0 degree spot & using a
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stepper motor with known gear ratio so we know the step angle
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=== - Power consumption
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Solution: Used 2xcells 18650 batteries because simple alkaline batteries
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wheren't up to the task
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=== helpful links:
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link:https://www.youtube.com/watch?v=fQ2iB7qkrUg[youtube homemade lidar]
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