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http://dx.doi.org/10.18419/opus-3215
Autor(en): | Dreher, Marcel |
Titel: | Two-wheeled-racer |
Erscheinungsdatum: | 2013 |
Dokumentart: | Abschlussarbeit (Diplom) |
URI: | http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-88953 http://elib.uni-stuttgart.de/handle/11682/3232 http://dx.doi.org/10.18419/opus-3215 |
Zusammenfassung: | 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. |
Enthalten in den Sammlungen: | 05 Fakultät Informatik, Elektrotechnik und Informationstechnik |
Dateien zu dieser Ressource:
Datei | Beschreibung | Größe | Format | |
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DIP_3494.pdf | 3,22 MB | Adobe PDF | Öffnen/Anzeigen |
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