Odometry of a threaded tank mobile robot

Odometry is a method to determine the position of the robot based on sensors measurements. Using this principle, it is possible to develop an odometric system to be implemented in a H2D threaded tank robot, which is a robot that allows the environment recognition and exploration using various sensors, such as encoders, ultrasonic sensors, laser, cameras, etc. In order to obtain the autonomous movements for this robot, the odometric system will be able to perform accurate movement. During this project, an electronic system based on microcontrollers has been implemented for controlling the motion and speed of the motors that controls the movements of the robotic platform.

The robotic platform is aimed to explore unknown environments that can be dangerous for a human being. Particularly for this project, a PID control for the motors allows the robot to perform odometry using encoders. The control algorithm has been embedded in a electronic board using microcontrollers.