[Dprglist] (no subject)

Thu Apr 30 11:45:29 PDT 2020

Robert,

Given that you are dealing with Lidar and have an application that requires SLAM techniques, you probably want to take a look at ROS (Robot Operating System).    You get a  lot of highly sophisticated building blocks from which you can construct your own application, but the learning curve is steep even if you have a strong software background.   I believe the DPRG youtube channel has some Lidar and ROS videos.

Regards,

Chris

P.S.: I'm not a DPRG member (since I live in the North East...), just a regular visitor to the DPRG YouTube channel and mailing list.....
________________________________
From: DPRGlist <dprglist-bounces at lists.dprg.org> on behalf of David Anderson via DPRGlist <dprglist at lists.dprg.org>
Sent: Thursday, April 30, 2020 1:15 PM
To: dprglist at lists.dprg.org <dprglist at lists.dprg.org>
Subject: Re: [Dprglist] (no subject)

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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