[Dprglist] (no subject)

[Robert Zeiler]

Hi all
Thanks for the reply.  I have also done odometry on my robots as well as
ultrasound and IR.
But, for this application, I was looking for experience with either visual
or lidar mapping techniques. Basically the idea is for the robot to enter a
room, scan the environment for obstacles (will also have onboard sonar for
collision avoidance), make a map from the readouts and then enter the room
using the info to establish a path through the room.  I want to hit all
areas of the room. The robot will return to the starting point and stop.

Robert

On Wed, Apr 29, 2020 at 5:22 PM Murray Altheim via DPRGlist <
dprglist at lists.dprg.org> wrote:

> 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
>
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