Resumen

CARDONA RENDON, Lorena; ORTIZ VALENCIA, Paula Andrea  y  BOTERO VALENCIA, Juan Sebastián. Navigation system for a swimming-pool cleaner robot. Tecnura [online]. 2014, vol.18, n.39, pp.22-33. ISSN 0123-921X.

Abstract In this paper presents the development of a navigation system to estimate the position, velocity and orientation of a pool cleaner robot to be automated. We employ the weighted least-square technique for the design of the navigation system, which combines the noisy measurements of a tri-axial accelerometer and a gyroscope with the solution to the differential equations that describe the robot's movement. The navigation system was tested using a (Simulink-based) model of the robot obtained from a tri-dimensional representation (built with CAD software - Autodesk Inventor). The final part of the paper presents the results and draws some conclusions about the feasibility of implementing the navigation system in the automation of a swimming-pool cleaner robot.

Palabras clave : State estimation; cleaning robot; SimMechanics; navigation system.

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