[Dprglist] (no subject)

[Murray Altheim]

Hi Robert,

I'm also keen to understand how to perform some of the tricks David has
perfected, and it's worth mentioning that he has a helpful page on
odometry at:

   http://www.geology.smu.edu/~dpa-www/robo/Encoder/imu_odo/

As my robots are all targeted at indoors GPS is unavailable.

I've put together the beginnings of a page on the NZPRG wiki on the
subject at:

   https://service.robots.org.nz/wiki/Wiki.jsp?page=Odometry

but it's not had much love (yet) as I'm still getting my PID controller
to the point of functionality (and not being sidetracked by every other
whim that comes my way, such as Firmata).

I've also considered having my robot perform repeated scans of the signal
strength of all the WiFi signals it can see (dozens, in a suburban
neighborhood) from the four corners of my house, storing that information,
and using that info, along with compass heading (from a BNO055) to get an
idea where in my house the robot is. Since the Raspberry Pi has WiFi built
in, this is a free exercise (no additional sensors required). There's a
lot of noise, you'll need both a blacklist (because cell phones move
around) and a whitelist (to prioritise known sources as if they were
beacons, or actually use a few older Pis as beacons), but I'm still
thinking it might work...

Cheers,

Murray

On 30/04/20 12:07 pm, David Anderson via DPRGlist wrote:
> Robert (and Herbert)
> 
> I've been doing autonomous robot navigation successfully for some years now using location information gathered from wheel encoders and gyros on a number of my robots.  I'd be happy to answer any questions you might have.  You might start 
> out by looking at the navigation writeups associated with my outdoor jBot robot:
> 
> http://www.geology.smu.edu/dpa-www/robo/jbot
> 
> Here's a video of that robot navigating through the woods to a waypoint 500 feet away and returning to within a few inches of the starting point:
> 
> http://www.geology.smu.edu/~dpa-www/robo/jbot/jbot_hatrick2_2.mpg
> 
> The jBot robot has an onboard GPS but that is not used or required for these navigation tasks.
> 
> best regards,
> 
> dpa
> 
> On 04/29/2020 06:37 PM, Robert Zeiler via DPRGlist wrote:
>> Has anybody had any success using any kind of mapping system or device for robot autonomous navigation?.
>>
>> Robert and Herbert (the robot)
...........................................................................
Murray Altheim <murray18 at altheim dot com>                       = =  ===
http://www.altheim.com/murray/                                     ===  ===
                                                                    = =  ===
     In the evening
     The rice leaves in the garden
     Rustle in the autumn wind
     That blows through my reed hut.
            -- Minamoto no Tsunenobu