Design and implementation of a magnetic rotary wheel encoder for a self-driving robotic vehicle

[摘要] This thesis project aims to help complete the fabrication of a magnetic wheel encoder for a fleet of autonomous electric vehicles that will provide shuttle service across MIT;;s campus. Currently no self-driving vehicles exist for such a function, especially for mobility on a college campus. In an effort to assist the system;;s simultaneous localization and mapping (SLAM) algorithm, this magnetic wheel encoder was designed and implemented to more accurately and directly determine the vehicle;;s trajectory. After mounting the magnets and sensors, an algorithm was developed to map the vehicle;;s path given raw magnetic field data. Though the open-loop system was not a perfect map to the actual path taken, this work provides a guideline with more than enough accuracy for the SLAM algorithm.

[发布机构] Massachusetts Institute of Technology