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Controlling the Position of the Wheeled Robot by Mobile Phone Sensors

Fallah Pakdaman, Abolfazl | 2024

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 56805 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Pour Mohammad Namvar, Mehrzad
  7. Abstract:
  8. This thesis deals with the construction of software tools necessary to calculate the position and orientation of the robot. The aim of this project is to use accelerometer, gyroscope, magnetometer and GPS sensors; Determine the position and orientation of the robot where the mobile phone is located. The proposed sensors are used to measure acceleration, angular velocity and magnetic field in 3 axes, respectively. GPS is also a system for calculating the position using signals received from satellites. To do this, an Android application has been designed and written in Java. The sensor information is collected by the software designed in the mobile phone and after proper coding is sent to a computer connected to the same Wi-Fi network via Wi-Fi. MATLAB environment has been used for the orientation calculation section. Information in MATLAB software is removed from coding and saved. Then, using the position and orientation estimation block available in MATLAB (AHRS), the orientation is calculated. The geographic position of the robot is also calculated using the GPS of the mobile phone and sent to the computer. Another thing done in this project is calculating the delay between registering and receiving information and removing its fixed part. Also, various tests have been conducted to check the efficiency and performance characteristics of the designed system, which indicates the presence of sufficient accuracy and speed in estimating the position and orientation, which makes the designed system suitable for many applications. Designed software tools provide the possibility of simple and very cheap use to estimate the position and orientation of devices; Because without the need to design and buy special hardware and just by connecting a mobile phone to any device, Minwan registered and sent the necessary information
  9. Keywords:
  10. Accelerometer ; Gyroscope ; Magnetometer ; Global Position System (GPS) ; Matlab Software ; Location and Orientation Calculation ; Mobile Phone Sensor

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