Bibliograph. Daten | Dreher, Marcel: Two-Wheeled-Racer. Universität Stuttgart, Fakultät Informatik, Elektrotechnik und Informationstechnik, Diplomarbeit Nr. 3494 (2013). 58 Seiten, englisch.
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CR-Klassif. | B.7.1 (Integrated Circuits, Types and Design Styles)
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Kurzfassung | The following document describes the process, problems and solutions of the project "Two-Wheeled-Racer". The project focuses on constructing the robot and providing the core communication principles in addition with basic balancing control. The single-board computer Odroid-X2+ is used as a brain for the Racer to process the data received from an accelerometer and a gyroscope and solve the inclination angle problem. To reduce the noise of the sensors the data are filtered and combined with the help of a complementary filter. A PID control algorithm is running on the Odroid-X2+ to react on the inclination angle calculated from the sensor data and to prevent the robot from falling over. Two 30:1 gear motors controlled by a MD25 H bridge dual motor drive are used as actuators. The data are transferred among the hardware components with the help of the I2C protocol.
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Volltext und andere Links | PDF (3298158 Bytes)
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Abteilung(en) | Universität Stuttgart, Institut für Parallele und Verteilte Systeme, Maschinelles Lernen und Robotik
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Betreuer | Toussaint, Marc |
Eingabedatum | 18. Dezember 2013 |
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