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Robot platform positioning in a theater setting

Lange, Nick van (2018) Robot platform positioning in a theater setting.

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Abstract:Mobile robot positioning is used in many applications. Many different system have been devised for this purpose. In this paper a positioning system is proposed for a unique setting, a positional system that can be setup in a theater. The system is designed to work for a specific juggling performance. In this juggling performance the juggler throws balls, which bounce multiple times against ramps. In this show the mobile robot platforms, with ramps on them, need to move to exact positions during the show to ensure that the balls bounce back correctly. The proposed solution to this problem is to use a combination of odometry and tape markers on the ground. With odometry the position and the orientation of a vehicle are calculated using measurements of the rotation of the wheels. In the proposed system the mobile robots will gain absolute measurements using the known position of marked patterns on the ground. These marked patterns are detected using reflectance sensors on the bottom of the robot. With the use of these sensors the robot is placed exactly on top of the markers, fixing drift errors. The resulting system has promising results with room for improvement.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
Link to this item:https://purl.utwente.nl/essays/75285
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