R2P IMU firmware development

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Title: R2P IMU firmware development
R2P IMU.png


Description: R2P (Rapid Robot Prototyping) is an open source modular architecture for rapid prototyping of robotic applications, which aims at speeding up their development.

R2P is an open source modular hardware and software architecture, where off-the-shelf basic modules (e.g., sensors, actuators, controllers) are combined together in a plug-and-play way, with tools for an easy development of control software, allowing the implementation of a complex system in a simple and standardized way.

One of the modules integrated in the framework is an IMU (Inertial Measurement Unit), which exploits a MEMS gyroscope and a MEMS accelerometer to estimate its heading. A magnetometer is also present, in order to calculate absolute heading and correct the measurement from the other sensors.

The project involves the study of a sensor fusion algorithm and its implementation on the embedded microcontroller that runs the IMU module. The code must be written in ANSI C and runs as thread in the ChibiOS/RT real-time operating system. The board have been built and tested, and raw sensor data have been acquired. Scientific articles about sensor filtering, and example implementation of the algorithms, are available.

Tutor: AndreaBonarini (andrea.bonarini@polimi.it), MartinoMigliavacca (migliavacca@elet.polimi.it)
Start: 2012/03/01
Students: 1 - 2
CFU: 2 - 5
Research Area: Robotics
Research Topic: Robot development
Level: Bs, Ms
Type: Course
Status: Active