Odometric system for robots based on laser mice

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Title: Odometric system for robots based on laser mice


Description: We developed an odometric system for robots by combining the reading of several laser mice. The system consists of a master PIC-based board and several slave boards where the sensors employed in optical mice are located. The readings are collected on the PIC and sent on the serial port to a PC which elaborates and combines the x and y readings in order to obtain a x,y,theta estimation of the movement of the robot.

The aim of the project is first to improve the current design of the PIC-based board, and realize a new working prototype, and then to implement and evaluate different algorithms able to estimate more precisely the x,y and theta odometric data from the mice readings. Experience with PIC-based systems and some experience with electronics circuits is a plus. Students are supposed to redesign the electronic board, improve the firmware of the PIC, and work on the algorithm that estimates the robot position on the PC. It would be also interesting to evaluate the possibility to embed the optimization and estimation algorithms in the firmware of the PIC in order to produce a stand-alone device.

Ask the tutors of the project for extra material, such as data-sheets and other documentation.

Tutor: MatteoMatteucci (matteo.matteucci@polimi.it), LuigiMalago (malago@elet.polimi.it), MarcelloRestelli (restelli@elet.polimi.it)
Start: 2009/10/01
Students: 1 - 2
CFU: 5 - 20
Research Area: Robotics
Research Topic: Robot development
Level: Ms
Type: Course, Thesis
Status: Closed