| Summary: | 碩士 === 國立中央大學 === 電機工程學系 === 101 === In this thesis, we provide a precise relative positioning system. After the user sets the initial position, positions of a mobile robot are calculated by action of a mobile robot every time including distance and direction. We select iRobot Create® Programmable Robot (called iRobot) to be a mobile robot, and data of distance is obtained by a built-in odometer of iRobot. In experiment, we notice that there is cumulative error of direc-tion each time iRobot rotating by a built-in motor encoder, and it cannot be rotated more than 90 degrees once. Therefore, iNEMO module of STMicroelectronics is installed in this system. The information of z-axis gyroscope and x, y-axis magnetometer are used to correct the current direction of a mobile robot.
Angle correction is divided into three parts, first we calculate direction with data of gyroscope and magnetometer; second, we discuss the error characteristics of iNEMO module, and describe them by fuzzy rules to predict the real angle; finally, we design a Kalman filter to remove irregular noise, and get the precise direction. In order to confirm the feasibility of methods, we design a specified location of tracing method, and discuss different cycles of angular correction (a distance of two specified location or a short distance). In the cycle of a distance of two specified location, we compare additional immediate compensation after using more accurate angle correction such as fuzzy and Kalman filter.
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