Mixed-signal odometry for mobile robotics

Michael J. Kuhlman; Tsung-Hsueh Lee; Pamela A. Abshire

doi:10.1117/12.2016373

3 June 2013 Mixed-signal odometry for mobile robotics

Michael J. Kuhlman, Tsung-Hsueh Lee, Pamela A. Abshire

Proceedings Volume 8725, Micro- and Nanotechnology Sensors, Systems, and Applications V; 87251H (2013) https://doi.org/10.1117/12.2016373
Event: SPIE Defense, Security, and Sensing, 2013, Baltimore, Maryland, United States

Abstract

Miniature robots present a number of challenging problems in controls, as they often exhibit nonlinear dynamics and have strict power and size constraints. These constraints limit the sensing and processing capabilities drastically. Many control techniques require knowledge of the robot’s position, so the position must be estimated when it cannot be sensed directly. We report a mixed signal odometry circuit that maps motor commands to estimated and predicted changes in position in Euclidean space (x, y, θ). We compare the mixed-signal implementation with other approaches and find that the mixed-signal implementation offers significant reductions in power consumption at an acceptable loss of precision.

Citation Download Citation

Michael J. Kuhlman, Tsung-Hsueh Lee, and Pamela A. Abshire "Mixed-signal odometry for mobile robotics", Proc. SPIE 8725, Micro- and Nanotechnology Sensors, Systems, and Applications V, 87251H (3 June 2013); https://doi.org/10.1117/12.2016373

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available