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Robot platform positioning in a theater setting

Lange, N. 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. The usual setting for such systems are in factories, homes or outside. In this paper a positioning system is proposed for a more unique kind of 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. After bouncing multiple times they come back to him. In this show the mobile robot platforms, with ramps on them, need to move to exact positions during the show. The ramps need to be in very exact places 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. Both of these are not affected by the distortion and interruption caused by the theater setting and can be setup with ease. With odometry the position and the orientation of a vehicle are calculated using measurements of the rotation of the wheels. An issue with odometry is that it does not measure the position directly. Because of this errors in orientation and position will build up over time and distance. The usual solution to minimizing this effect, is to use an absolute measurement system. 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. With the position and orientation known of the markers, the errors in position and orientation can be fixed. The resulting system has promising results with room for improvement.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/80952
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