Localization & Control

The main objective of the localizartion and control subsystem is to localize the robot accurately in the environment and provide active control to counter the rocking that is being simulated in the testbed. In this project, we utilized four DC encoder motors controlled via Arduino Mega to localize a robot at specific locations using PID control. The robot's motion was controlled through the use of motor encoders that allowed us to monitor and adjust the position of the robot's wheels. By implementing a PID control algorithm, we were able to precisely control the robot's movements and navigate it to predetermined locations with high accuracy. PID control on the robot also gave robot the ability to actively maintain its position white manipulator performed its task

The main components of the Localization and Control architecture are

• Jetson Nano

• Arduino Mega

• L298N Motor Driver

• Pololu DC Motors with encoders

• Mecanum wheels

• Ultrasonic Sensors

As per the rules of the project, we will receive a mission text file. Jetson Nano will parse this mission file, sort the panels in accending order (A to H) and assign a numeric value - 1 for Yes and 0 for No, based on which station valves need to be manipulated. Jetson will publish this data via ROS to arduino. Arduino will receive this data execute the program. 

After rigorous testing, the team decided to use DC motor's encoders to position the robot at the appropriate location based on the mission file as the location of panels is fixed, the system will use. Furthermore, the system will also have an individual feedback PID control on all the motors to precisely localize the robot. The PID control will also give the robot ability to actively maintain its position and counter testbed rocking. 

Additionally, the system will have four TOF sensors, two on each side facing the wall. These will act as a safety mechanism and prevent robot from crashing into the testbed wall.