Control of Differential Driven Rover by Means of Sensor Fusion
Term
4. term
Education
Publication year
2022
Submitted on
2022-06-14
Pages
78
Abstract
In this report, a differential-driven rover for use in agriculture is analyzed with the end goal of determining and controlling its position. For determining the rover’s position as well as its other states, an extended Kalman filter has been designed combining multiple sensors to achieve higher precision than what would have been achievable by using only one sensor. The sensors used are wheel encoders, an inertial measurement unit, a magnetometer, and a GNSS with RTK capabilities. The system states are used for designing two different kinds of controllers. The first one is a heading controller, to ensure that the rover keeps the correct heading while driving along at a constant linear velocity. The second is an inertial frame controller, ensuring that the rover reaches predefined positions. The extended Kalman filter as well as all the sensor input are handled by a microcontroller running FreeRTOS to ensure realtime operation. While the control and interface to the motors are handled by an NVIDIA Jetson Nano running Robot Operating System.
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