Hi,
I am completely new to robotics. To start learning by doing, I decided to perform a hello-world-type project with Kalman filtering. All what I know is only a little math theory and limited experience with Simulink.
The filter must reduce the noise from an incremental optical encoding system, which is consisting of these parts:
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HSR-1422CR Continuous Rotation Standard Servo
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Inex Infrared Reflective Sensor - TCRT5000L
http://www.robotshop.ca/inex-infrared-r … TCR-2.html
- Arduino Duemilanove USB Microcontroller Board
http://www.robotshop.ca/arduino-usb-mic … board.html
- Also learned about codewheel here:
http://www.mindspring.com/~tom2000/Delp … wheel.html
- I have seen some practical implementations of KF, for instance here:
http://www.arduino.cc/cgi-bin/yabb2/YaB … 1225283209
The hardware assembling is consisting of:
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Mounting the codewheel on the servo
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Mounting the reflector sensor, faced to the codewheel
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Connect them to the Arduino
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Connect the Arduino to a PC, to program the system explained below.
The thing is that I still did not receive the parts I bought, and I can’t sit, doing nothing! I would like to start a simulation phase:
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Develop a block-diagram of the control system with math-model of parts, with a Kalman filter embedded in that and a source of random process generating.
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Get a graph, showing actual system state with and without noise, and the Kalman-filtered signal all together, so that to see and feel (how) the filter works.
This finishes the simulation phase, and hopefully by finishing it in a week, I will have my parts and go for a real experiment Smile
Please support:
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What is your idea about the block-diagram, parts and their math-model?
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What should be the state-space equation? I can’t imagine, what the state of the system must be in this case? Spinning angle, or the distance?
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Any other general recommendations / instructions / link to tutorials, all are very welcome!
Best Regards!!