Development of an Omni-directional distance sensing system for the Deci Zebro

Bachelor thesis (2017)

Authors

S.G. Verkamman Electrical Engineering, Mathematics and Computer Science
K. Kouwenhoven Electrical Engineering, Mathematics and Computer Science

Contributors

C.J.M. Verhoeven (mentor)
E.A. Hakkennes (coach)
R. Bos (coach)
Faculty
Electrical Engineering, Mathematics and Computer Science, Electrical Engineering, Mathematics and Computer Science
Copyright: © 2017 Sjors Verkamman, Kevin Kouwenhoven
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Published Date

04-07-2017

Language

English

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

In this thesis, we describe the design process of a distance sensing system for the Deci Zebro swarm robots. We use a technique that transmits a radio frequency message and a ultrasonic pulse concurrently. Due to the difference in propagation speed of both signals, the distance could be measured using time difference of arrival (TDOA). A cone shaped antenna is designed to create a 360 ultrasonic pulse coverage. At the end of this thesis we present a prototype with a range of 7 m. We find a linear relation between the TDOA and the actual distance between the modules. We thus conclude that our prototype is suitable for range measurements on roving swarm robots.