Odometry-and-Position-Estimation-for-Mobile-Robot

In this repository we will learn about an Arduino-based robot control and odometry project using wheel encoders for educational robotics exploration and data visualization with MATLAB.

Arduino Robot Control and Odometry

Objective

The Arduino Robot Control and Odometry project aims to provide a comprehensive platform for controlling a mobile robot using an Arduino Uno board, L293D motor driver, two speed sensors (wheel encoders), and odometry calculations. The primary objective is to offer an educational resource for beginners and enthusiasts to delve into robot control, positioning, and motor control principles using Arduino.

Functionalities

1. Motor Control: The code includes motor control logic using an L293D motor driver to manage two gear motors. This enables basic control over motor speed and direction.

2. Wheel Encoder Odometry: The project integrates two speed sensors (wheel encoders) to count the ticks generated by the wheels as the robot moves. These counts serve as the basis for calculating the robot's position and orientation through odometry calculations.

3. Odometry Calculation: The odometry function calculates the robot's position (x, y) and orientation (phi) based on changes in wheel distances. It updates the robot's position in real-time, providing valuable feedback.

4. Serial Communication: The code employs Serial communication to output the robot's current position (x, y) to the serial monitor. This facilitates real-time monitoring during testing and development.

Hardware Requirements

To replicate this project, you will need the following hardware components:

• Arduino Uno board
• L293D motor driver
• Two gear motors with wheels
• Two speed sensors (wheel encoders)
• Li-ion batteries (power source)
• Acrylic sheet or chassis for robot construction

Software Requirements

The software components required for this project are as follows:

• Arduino IDE or Visual Studio Code (with Arduino extension): Used for programming the Arduino Uno board and controlling the robot's hardware.

• MATLAB (MathWorks): Utilized for visualizing the robot's positioning based on the data calculated through odometry. MATLAB offers powerful tools for data visualization, making it an excellent choice for displaying the robot's path and orientation.

By incorporating MATLAB into your project, you can gain insights into the robot's movement and trajectory, making it a valuable tool for educational and research purposes.

Usage

1. Assemble the robot using the provided hardware components and ensure proper wiring connections.

2. Upload the provided Arduino code to your Arduino Uno board using the Arduino IDE or Visual Studio Code.

3. Monitor the robot's movements and position through the serial monitor.

4. Customize the code to implement additional features or algorithms as needed for your specific application.

Visualization with MATLAB

1. Run your Arduino code to control the robot's movements and collect data, including position and orientation.

2. Utilize MATLAB to read and visualize the data collected from the robot. You can create plots, trajectories, and orientation diagrams to gain a deeper understanding of the robot's behavior.

3. Customize MATLAB visualizations and data processing to suit your specific educational or research goals.

Conclusion

The Arduino Robot Control and Odometry project serves as an educational platform for beginners and robotics enthusiasts. It offers a starting point for exploring robot control principles, odometry calculations, and motor control using Arduino. By incorporating MATLAB for data visualization, users can gain valuable insights into the robot's behavior and trajectory.

Applications

• Educational Purposes: Ideal for beginners learning about robotics, Arduino programming, and motor control.

• Prototyping: Provides a foundation for prototyping mobile robot projects and testing control algorithms.

• Research and Development: Offers a starting point for developing more advanced robot control systems and experimenting with odometry.

Description

This project provides a comprehensive codebase for controlling a mobile robot, calculating its position and orientation through odometry, and implementing basic motor control. The integration with MATLAB allows for in-depth data analysis and visualization, enhancing the project's educational and research potential.

For Educational Purposes

This project is designed with educational objectives in mind, making it a valuable resource for:

• Individuals learning about robotics, Arduino programming, and motor control.

• Students and educators seeking hands-on experience in robotics and control systems.

• Enthusiasts interested in exploring the fundamentals of mobile robot control and positioning.

Feel free to use and modify this project for your educational needs. It provides a practical and insightful introduction to robotics and Arduino-based control systems.