CBL - Campus del Baix Llobregat

Projecte llegit

Títol: Autonomous rover for indoor localization

Estudiants que han llegit aquest projecte:

Director/a: PINO GONZÁLEZ, DAVID

Departament: FIS

Títol: Autonomous rover for indoor localization

Data inici oferta: 04-11-2016     Data finalització oferta: 04-06-2017


Estudis d'assignació del projecte:
    Tipus: Individual
     
    Lloc de realització: Fora UPC    
     
            Supervisor/a extern: Enric Fernández Murcia
            Institució/Empresa: CTTC
            Titulació del Director/a: Enginyer de Telecomunicacions
     
    Paraules clau:
    rover; indoor localization; sensors calibration; signal processing
     
    Descripció del contingut i pla d'activitats:
    The goal of this project is the implementation of an indoor localization system, using a set of sensors, in the ROS ecosystem. ROS is selected due its modularity and broad use in the robotics field. The work includes a rover kit platform mounting and the installation of some sensors (provided by the CTTC). The data from the sensors is acquired by a microcontroller unit (an Arduino) and is sent by a serial port to the main processor unit (a Raspberry pi 3).

    ROS is running in the Raspberry pi unit. The expected output of the ROS location module is the platform position and attitude (and being ready to be used together with the ROS navigation module or any other). Calibration procedures must be designed, implemented and validated, for all or some of the sensors.

    The localization will be used mainly in indoor locations (i.e. buildings), but it may be prepared to be used outdoors (GNSS ready). It must work with local and global reference systems. Hence, the student must achieve some familiarity with coordinate and time transformations.
     
    Overview (resum en anglès):

    The goal of this project is the implementation of an indoor Rover localization system, processing data from a set of sensors integrated in the ROS (Robotic Operative System) system. ROS is selected due its modularity and broad use in the robotics field. The project includes a work platform, in our case a Rover where have to be implemented the different sensors (odometers and inertial sensors). It has to be noted that the Rover structure, the wheels and motors have been bought together (kit), and has been assembled using an assembly user guide.

    Sensor data have been acquired through two microcontrollers (Arduino and Motor Controller). Then, this data is sent through a serial port to the main microprocessors (Raspberry Pi 3) where ROS is executed. Hence, ROS reception messages have to be properly adapted to the format desired.

    The estimated output of ROS is the position and attitude of the Rover (being prepared to use along with other ROS modules). Calibration procedures must be designed, implemented and validated, for all or some of the sensors.

    The system will be used mainly in indoors (i.e. buildings). It must work with local and global reference systems. Hence, I have had to achieve some familiarity with coordinate and time transformations.

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