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<p>Robert,</p>
<p>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? <br>
</p>
<p>regards</p>
<p>dpa</p>
<p><br>
</p>
<br>
<div class="moz-cite-prefix">On 04/30/2020 11:50 AM, Robert Zeiler
via DPRGlist wrote:<br>
</div>
<blockquote type="cite"
cite="mid:CAEpDUR_DC+sb2XKHHkvLgzZXEWKjJ=cL52Rkki=ro61onw58+A@mail.gmail.com">
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<div dir="ltr">
<div class="gmail_default" style="font-size:small">Hi all</div>
<div class="gmail_default" style="font-size:small">Thanks for
the reply. I have also done odometry on my robots as well as
ultrasound and IR.</div>
<div class="gmail_default" style="font-size:small">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.</div>
<div class="gmail_default" style="font-size:small"><br>
</div>
<div class="gmail_default" style="font-size:small">Robert</div>
</div>
<br>
<div class="gmail_quote">
<div dir="ltr" class="gmail_attr">On Wed, Apr 29, 2020 at 5:22
PM Murray Altheim via DPRGlist <<a
href="mailto:dprglist@lists.dprg.org" moz-do-not-send="true">dprglist@lists.dprg.org</a>>
wrote:<br>
</div>
<blockquote class="gmail_quote" style="margin:0px 0px 0px
0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex">Hi
Robert,<br>
<br>
I'm also keen to understand how to perform some of the tricks
David has<br>
perfected, and it's worth mentioning that he has a helpful
page on<br>
odometry at:<br>
<br>
<a
href="http://www.geology.smu.edu/%7Edpa-www/robo/Encoder/imu_odo/"
rel="noreferrer" target="_blank" moz-do-not-send="true">http://www.geology.smu.edu/~dpa-www/robo/Encoder/imu_odo/</a><br>
<br>
As my robots are all targeted at indoors GPS is unavailable.<br>
<br>
I've put together the beginnings of a page on the NZPRG wiki
on the<br>
subject at:<br>
<br>
<a
href="https://service.robots.org.nz/wiki/Wiki.jsp?page=Odometry"
rel="noreferrer" target="_blank" moz-do-not-send="true">https://service.robots.org.nz/wiki/Wiki.jsp?page=Odometry</a><br>
<br>
but it's not had much love (yet) as I'm still getting my PID
controller<br>
to the point of functionality (and not being sidetracked by
every other<br>
whim that comes my way, such as Firmata).<br>
<br>
I've also considered having my robot perform repeated scans of
the signal<br>
strength of all the WiFi signals it can see (dozens, in a
suburban<br>
neighborhood) from the four corners of my house, storing that
information,<br>
and using that info, along with compass heading (from a
BNO055) to get an<br>
idea where in my house the robot is. Since the Raspberry Pi
has WiFi built<br>
in, this is a free exercise (no additional sensors required).
There's a<br>
lot of noise, you'll need both a blacklist (because cell
phones move<br>
around) and a whitelist (to prioritise known sources as if
they were<br>
beacons, or actually use a few older Pis as beacons), but I'm
still<br>
thinking it might work...<br>
<br>
Cheers,<br>
<br>
Murray<br>
<br>
On 30/04/20 12:07 pm, David Anderson via DPRGlist wrote:<br>
> Robert (and Herbert)<br>
> <br>
> 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
<br>
> out by looking at the navigation writeups associated with
my outdoor jBot robot:<br>
> <br>
> <a href="http://www.geology.smu.edu/dpa-www/robo/jbot"
rel="noreferrer" target="_blank" moz-do-not-send="true">http://www.geology.smu.edu/dpa-www/robo/jbot</a><br>
> <br>
> 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:<br>
> <br>
> <a
href="http://www.geology.smu.edu/%7Edpa-www/robo/jbot/jbot_hatrick2_2.mpg"
rel="noreferrer" target="_blank" moz-do-not-send="true">http://www.geology.smu.edu/~dpa-www/robo/jbot/jbot_hatrick2_2.mpg</a><br>
> <br>
> The jBot robot has an onboard GPS but that is not used or
required for these navigation tasks.<br>
> <br>
> best regards,<br>
> <br>
> dpa<br>
> <br>
> On 04/29/2020 06:37 PM, Robert Zeiler via DPRGlist wrote:<br>
>> Has anybody had any success using any kind of mapping
system or device for robot autonomous navigation?.<br>
>><br>
>> Robert and Herbert (the robot)<br>
...........................................................................<br>
Murray Altheim <murray18 at altheim dot com>
= = ===<br>
<a href="http://www.altheim.com/murray/" rel="noreferrer"
target="_blank" moz-do-not-send="true">http://www.altheim.com/murray/</a>
=== ===<br>
= = ===<br>
In the evening<br>
The rice leaves in the garden<br>
Rustle in the autumn wind<br>
That blows through my reed hut.<br>
-- Minamoto no Tsunenobu<br>
<br>
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