W04. Control 03
Last week, we modelled a servo and saw a complete but simple control loop. The potentiometer was used for rotational encoding. However, our robots move too far to just use rotational encoding. We need to translate rotation to linear motion.
Today we will learn how to perform localization and find out "where we are." We need to reconcile the readings from the encoder with our other senors and a map. The map could be as simple as "distance from zero" or as complex as the interior of a multi-floor building. The process of getting real-time data from sensors (such as an encoder) is called telemetry. Even though the word implies remote sensing, it's often used to mean any data collection from sensors.
Pre-readings and Videos
The readings today cover encoders and localization and compares robot movement and control to human body movement and control.
Human motor control
This paper covers a part of human motor control in detail. Motor Control, Peripheral
Robot localization
This paper covers how ambulating (mobile or moving) robots can locate themselves in space. A review on positioning techniques of mobile robots
Summary of the Day
- Demo. Follow-me.
- Lesson. Robot epistemics and sensor integration.
- Example. P-Controller.
- Activity. Telemetry.
- In-class design activity. Design a Wall-Following Robot.
Learning Goals
- Design and build a simple optical encoder.
- Take readings from an encoder and translate into distance and speed readings.
- Reason about basic problems with telemetry, including the sensing loop, timing, and errors.