[Dprglist] Odometry and navigation

[David Anderson]

Left this out of previous post.  Sorry to reply to myself.

Here are some handy math routines for doing navigation:

http://www.geology.smu.edu/dpa-www/robo/challenge/math.html

dpa



On 05/09/2020 04:38 PM, David Anderson via DPRGlist wrote:
> Hello DPRG,
>
> Here are the links that were inquired about at today's DPRG meeting.  
> The subject of discussion was the distinction between the terms 
> "odometry" and "navigation."  Many folks use the term odometry to 
> imply a method of navigation that is essentially ded reckoning.   
> However the itself term actually refers to a method for determining 
> the robot's location and pose.  That location and pose information can 
> in turn be used for a variety of purposes, including various forms of 
> navigation, of which ded reckoning is one. (albeit a crude one in my 
> opinion).  These two papers hopefully shed some further light on that 
> distinction.
>
> 1.  Tracking the robot's position in X,Y,theta with wheel encoders and 
> wheel encoders plus gyroscope.   Section II.B details the classical  
> odometry algorithm for a two wheel differentially driven platform:
>
> http://geology.heroy.smu.edu/dpa-www/robo/Encoder/imu_odo/
>
> 2. Navigating to a waypoint target using the robot's location as 
> collected by odometry as described in the previous paper:
>
> http://www.geology.smu.edu/dpa-www/robo/challenge/navigation.html
>
>
> Note that the navigation algorithm described here will work with any 
> technique that can track the robot's location, and is not limited to 
> location data collected by odometry.
>
> cheers
>
> dpa
>
>
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