|
Re: Inertial Navigation System - Has it Been Done?
You'll need two infinitely-turning shaft encoders, a sizeable rolling ball (robots travel faster than human hands on a mouse), and some supports to keep the ball from coming out when you lift the robot, and 3 axles to keep the ball in the right spot to be read by the shaft encoders. The "sizeable" rolling ball should have a high coefficient of friction so as to negate the "slip" factor when the robot gets "knocked". This system provides relative velocities in the robot's coordinate plane for the x and y axis's.
The gyroscope can be mounted on the robot, and it can be used to determine true heading.
|