Sistema de navegación para un robot limpiador de piscinas
| Autor: | Lorena Cardona Rendón, Paula Andrea Ortiz Valencia, Juan Sebastián Botero Valencia |
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| Jazyk: | Spanish; Castilian |
| Rok vydání: | 2014 |
| Předmět: | |
| Zdroj: | Tecnura, Vol 18, Iss 39, Pp 22-33 (2014) |
| Druh dokumentu: | article |
| ISSN: | 0123-921X 2248-7638 |
| Popis: | In this paper presents the development of a navigation system to estimate the position, velocity and orientation of a pool cleaner robot to be automated. We employ the weighted least-square technique for the design of the navigation system, which combines the noisy measurements of a tri-axial accelerometer and a gyroscope with the solution to the differential equations that describe the robot's movement. The navigation system was tested using a (Simulink-based) model of the robot obtained from a tri-dimensional representation (built with CAD software - Autodesk Inventor). The final part of the paper presents the results and draws some conclusions about the feasibility of implementing the navigation system in the automation of a swimming-pool cleaner robot. |
| Databáze: | Directory of Open Access Journals |
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