[Dprglist] KR01 Infrared Behaviours

[David P. Anderson]

Hi Murray,

You might want to look at some of the video and slides from the June 
DPRG navigation talk that perhaps address some of your questions:  IR 
avoidance behavior slides 26-34 from the talk at 00:50 thru 01:00, and 
Perimeter Following behavior slides 43-48 from the talk at 01:08 thru 01:14.

Your hardware is more like that on the nBot balancing robot (i.e., IR 
distance rather than proximity detectors) but the code for the avoidance 
and wall following behaviors are basically the same as covered in the 
talk, and as illustrated in the video of nBot around 01:12.

cheers!

dpa


On 8/30/21 12:48 AM, Murray Altheim via DPRGlist wrote:
> [EXTERNAL SENDER]
>
> Hi,
>
> I'm sending this out for comments and suggestions. This is my current
> planned behaviour for the analog infrared sensors on the KR01, and
> eventually the KD01 (the two wheeler).
>
> As used below, the capitalised "Behaviour" is actually a class in the
> KROS (K-Series Robot Operating System):
>
> https://secure-web.cisco.com/19djq7WVD0ou3tZ_FojqCz_kK6n4CBI7WqsIaOLnx6SORvxYJQbCAUUHoWm_SVrAshqNzgx998cvdXBr5OjZW93Vb-FCt_aMrWHYx03Ad4-ctcspjs9n5P15UZFNSn7ssPBWPUBMaCUUInkw83_bVNPRJyuiGMMGfZuRDRRYuCki4RUnd25FNwJ68V9SQ7i7QxSIQ7hKVCga5KBFyFpEVvisU8VS4DcAuGUY4aOiZs5Nb2HaJtuYbEYUTSK6BtVq7gR19K6a-NrFUZnkIsg29Gc2b19uXy7byr2YjYibrY_k/https%3A%2F%2Fgithub.com%2Fifurusato%2Fkros-core
>
>
> # Background
>
> The KR01 robot has port, center and starboard bumpers. The behaviour on
> bumper hits will be defined in a different and as-yet unspecified
> Behaviour class.
>
> It also has Port-Side, Port (oblique), Center, Starboard (oblique), and
> Starboard-Side analog infrared sensors (Sharp GP2Y0A60SZLF 10-150cm).
> The side sensors face forward at 45° (rather than 90°, as per
> recommendations from the DPRG), the oblique sensors are 25° off center.
>
> image: 
> https://secure-web.cisco.com/1Rl_2RGteNvldP24ABhqNsoPaYeUeFtkJH7O3YWV_WDv_cADUinlGSQ8VSpYKU-C1QuLa8AAZL9CBaS8VyeVWYr1gbt3sBIu7dNTW-2OUZM1dE_zuoTKyFMM_liIrkm9yYf6sPtUYzkRFAG4fgT8LT15st8FYcJVgbQkiVmGWHwdajNVGUOFYdpseMKUBlkXr37dCybfWqMRKpGuPD6TaWvck1n48dbLIJySfrpzo3b6LD8rpEgXodq8qDXX34ihe9pQOtJiJLlVmxcmM6klBB0Gk7pVwizsvFncB2vZY9-U/https%3A%2F%2Fservice.robots.org.nz%2Fwiki%2Fattach%2FKR01%2Fkr01-ir-plan-1.jpg
>
>
> # Behaviour Plan
>
> • The Roam Behaviour uses the center IR and will slow the robot down
>   beginning from 100% target velocity at 50cm to a full stop at 25cm.
>   This adds a lambda function to both motor controllers to limit the
>   top speed as a function of distance. Currently there is no recovery
>   from the full stop, i.e., once stopped some other undefined Behaviour
>   will need to be triggered to back up or otherwise avoid the obstacle).
>
> • The Avoid (maybe "Swerve") Behaviour will add a lambda function to
>   both motors that will progressively alter the steering (difference
>   between the motors) as a function of distance based on the distance
>   and difference of the port and starboard oblique sensors. The closer
>   to the obstacle the harder the swerve.
>
> • The side infrareds have two modes: Wall Follow or Avoid Side. In
>   Wall Follow mode it will attempt to keep the robot "glued" at a fixed
>   distance from a perceived wall on either side. In Avoid Side mode
>   it will act similarly to the oblique sensor Behaviour and attempt to
>   push the robot away from the wall (likely at a greater distance than
>   when in Line Follow mode), with the amount of push inversely
>   proportional to distance.
>
> Comments, suggestions, discussion welcome. I'm currently implementing
> a stop-and-backup Behaviour for when the bumpers are hit. It's rather
> ballistic in nature but I suppose when the robot bumps into something
> we may need to resort to extreme measures...
>
> Cheers,
>
> Murray
>
> ........................................................................... 
>
> Murray Altheim <murray18 at altheim dot com>                       = 
> =  ===
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