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Abstract:
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This project is about to create a multi sensor modular platform for robots. That
means a platform created with several sensors, actuators and chips that had to be
useful for future robot practice or projects.
As this project is a platform for future thesis, is required to use standard
programming language, creating the control of the sensors so that it could be easily
used by other students in the future, although they did not know the inner working of programs in particular.
Although this platform can be used for multiple applications, this thesis give special attention on a future project that the mainly purpose is create a robot capable of follow scents, or what is the same, different concentrations of gas. Thus, although the programs that we had to create could be used for various purposes, are specially done thinking of the future use for the creation of this robot tracker of smells.
So the main task of this project is to investigate and see how each of the sensors
and actuators of our robot works and, in the other hand, learn to program a chip set
not only to make it able to receive information from these sensors and send
information to the actuators, but create some laws to control our multi sensor
modular platform for robots to perform tasks from the acquired information.
Basically our robot is able to follow the direction that we want, with a close control
loop in the direction using the information acquired from a three axis accelerometer,
which allows too knowing the acceleration and consequently velocity and position of
our robot. Also the robot is equipped with ultra sound sensors allowing detecting and
avoiding obstacles. The smell sensor is implemented for the next versions of this
robot. |
