Diplomarbeit DIP-3494

Bibliograph.
Daten
Dreher, Marcel: Two-Wheeled-Racer.
Universität Stuttgart, Fakultät Informatik, Elektrotechnik und Informationstechnik, Diplomarbeit Nr. 3494 (2013).
58 Seiten, englisch.
CR-Klassif.B.7.1 (Integrated Circuits, Types and Design Styles)
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.

Volltext und
andere Links
PDF (3298158 Bytes)
Abteilung(en)Universität Stuttgart, Institut für Parallele und Verteilte Systeme, Maschinelles Lernen und Robotik
BetreuerToussaint, Marc
Eingabedatum18. Dezember 2013
   Publ. Informatik