College - Author 1
College of Engineering
Department - Author 1
Mechanical Engineering Department
Degree Name - Author 1
BS in Mechanical Engineering
College - Author 2
College of Engineering
Department - Author 2
Mechanical Engineering Department
Degree - Author 2
BS in Mechanical Engineering
College - Author 3
College of Engineering
Department - Author 3
Mechanical Engineering Department
Degree - Author 3
BS in Mechanical Engineering
College - Author 4
College of Engineering
Department - Author 4
Mechanical Engineering Department
Degree - Author 4
BS in Mechanical Engineering
Date
12-2024
Primary Advisor
Amanda Emberley, College of Engineering, Mechanical Engineering Department
Additional Advisors
Charlie Refvem, College of Engineering, Mechanical Engineering Department
Abstract/Summary
The Pseudo-GPS system for Romi robots addresses the need for precise real-time location tracking in Cal Poly's Mechatronics lab. This project, developed by Emmanuel Baez, Gabriel Coria, Owen Guinane, and Conor Schott, under the guidance of instructor Charlie Refvem, provides a proof-of-concept system to enhance the Romi robots' geolocation capabilities for advanced robotic algorithms.
The proposed system uses a Raspberry Pi 4 equipped with a Pi camera module and ArUco markers to track the position and orientation of Romi robots within a lab environment. Custom 3D-printed stands secure markers on the robots, and a designated origin marker defines the coordinate system. The software stack, implemented in Python, supports marker detection and positional calculations.
Testing revealed an average positional accuracy of ±7.23mm, which is below the target of ±5mm, and limitations in orientation tracking and data transfer due to time constraints and hardware issues. The system demonstrated effective simultaneous detection of multiple markers but exhibited performance variability at different heights.
Despite these limitations, the project successfully showcases a scalable approach to local robotic tracking and highlights areas for future improvements, including refined height calibration and enhanced data transfer capabilities using ESP32 microcontrollers. This FDR provides a foundation for ongoing development and integration into broader robotic systems.
URL: https://digitalcommons.calpoly.edu/mesp/797
Project Poster
ME_2024_W22_SOW.pdf (1029 kB)
Scope of Work
ME_2024_W22_PDR.pdf (936 kB)
Preliminary Design Review
ME_2024_W22_CDR.pdf (730 kB)
Critical Design Review
ME_2024_W22_Drawings.pdf (1739 kB)
Drawing Package
Included in
Electro-Mechanical Systems Commons, Other Mechanical Engineering Commons, Robotics Commons