Diploma Thesis DIP-3494

BibliographyDreher, Marcel: Two-Wheeled-Racer.
University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Diploma Thesis No. 3494 (2013).
58 pages, english.
CR-SchemaB.7.1 (Integrated Circuits, Types and Design Styles)
Abstract

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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Department(s)University of Stuttgart, Institute of Parallel and Distributed Systems, Machine Learning und Robotics
Superviser(s)Toussaint, Marc
Entry dateDecember 18, 2013
   Publ. Computer Science