[Dprglist] Odometry and navigation

[Murray Altheim]

Thanks David.

With permission from David I'd created a wiki page about his SR04 robot,
which has a list of links at the bottom. I've added these three links to
that list (so I don't lose track of them, but occurs to me others might
want a bookmark):

   https://service.robots.org.nz/wiki/Wiki.jsp?page=SR04#section-SR04-Links

Cheers,

Murray

On 10/05/20 10:32 am, David Anderson via DPRGlist wrote:
> 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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-- 

...........................................................................
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