[Dprglist] (no subject)

[David Anderson]

Robert,

Sounds like what you are looking for is SLAM.   Though from your 
description perimeter following would probably work and be much more 
robust.  Is Herbert one of the LEAF robots?

regards

dpa



On 04/30/2020 11:50 AM, Robert Zeiler via DPRGlist wrote:
> 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 <mailto: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/
>     <http://www.geology.smu.edu/%7Edpa-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
>     <http://www.geology.smu.edu/%7Edpa-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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