Sistema de navegación para un robot limpiador de piscinas

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 accele...

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Bibliographic Details
Published in:	Tecnura Vol. 18; no. 39; p. 22
Main Authors:	Lorena Cardona Rendón, Ortiz Valencia, Paula Andrea, Juan Sebastián Botero Valencia
Format:	Journal Article
Language:	Portuguese Spanish
Published:	Bogota Universidad Distrital Francisco José de Caldas, Facultad Tecnológica 01-01-2014
Subjects:	Commercial credit Robots Secured loans Sensors
Online Access:	Get full text
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Summary:	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.
ISSN:	0123-921X 2248-7638