Odometria baseada em unidade de medida inercial para andador robótico inteligente

Abstract

This work has as objective the development of the electronic and adjustment part of odometry of Smart Walker, so that travel in familiar environments and collect location data as accurately as possible in a system of inertial sensors present in a microchip Inertial Measurements Units, from the acronym IMU. The composition of the electronic architecture includes a microcomputer, called Beaglebone Blue, and the microcontroller, Arduino Uno, as well such as direct current motors and their driver, composed of two H-bridges, in of shield. Finally, robot manual control algorithms are performed to data collection en-route to calculate accuracy errors in the location system odometer.