2026-09-19T04:30:44Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/989642022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Jonathan How.
Gilbert, Alexander Prodromos
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2015-09-29T18:55:45Z
2015-09-29T18:55:45Z
2015
2015
http://hdl.handle.net/1721.1/98964
921147845
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 25).
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.
by Alexander Prodromos Gilbert.
S.B.
25 pages
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design and implementation of a magnetic rotary wheel encoder for a self-driving robotic vehicle
Thesis
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