Abstract

We will construct a 3-axis stabilization platform will be able to correct for deviations in pitch, yaw, or roll from a preset orientation, which can be changed at any time by a computer using a CAN interface to our platform. The system will use accelerometers, rate gyroscopes, and feedback from motors to sense the actual position of each axis, and then correct for any changes by sending commands to brushless motor amplifiers that will be used to move each axis. In order to help us make accurate and smooth corrections we will also implement a filter for the input from the sensors.

After the implementation of our project in the 6.111 labkit, we will deploy the system in the MIT DARPA Grand Challenge vehicle with robust custom PCBs. By the project’s completion, we expect our platform to be able to hold an array of sensors and correct their orientation for rotation of the base of the platform, and also orient itself based on commands from an outside computer.

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