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<p>Cool. Especially the force sensing gripper. Any pics or video?</p>
<p>I played with Roborealm some (many) years ago but didn't pursue
it seriously at the time. A couple of the guys in the group use
lidar for localization for some of the robot contest courses
though I'm not sure they use it for more real-world environments.
Contest courses are easy :)<br>
</p>
<p>I've had pretty good success with a generalized version of wall
following which I call perimeter following (i.e., doesn't require
a nice flat wall) to do room navigation. The robot also runs
location calculations at 20Hz using gyro corrected odometry while
perimeter following so it knows where it is and can, for example,
stop when it gets back to the starting point, as you suggest. <br>
</p>
<p>Here's a video of the two-wheel balancing robot nbot doing some
perimeter following in the basement of the Heroy building at SMU
where I work, which is a pretty challenging environment:<br>
</p>
<p>
<a class="moz-txt-link-freetext" href="http://www.geology.smu.edu/dpa-www/robo/nbot/20120614_nbot_05b.mpg">http://www.geology.smu.edu/dpa-www/robo/nbot/20120614_nbot_05b.mpg</a><br>
</p>
<p>regards</p>
<p>dpa</p>
<p><br>
</p>
<br>
<div class="moz-cite-prefix">On 04/30/2020 12:58 PM, Robert Zeiler
wrote:<br>
</div>
<blockquote type="cite"
cite="mid:CAEpDUR8P7+6cKBhOM7daRA3hNJm=nTBLpY3Y6gvpfeUCHCSuFQ@mail.gmail.com">
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<div class="gmail_default" style="font-size:small">Thanks I've
been thinking about the left or right wall rule. Yes, Herbert
started out as a LEAF robot. I've gone further than the group
though. The last addition to Herbert was an arm with several
DOF and a force sensing gripper. Had to learn a lot about
torque and gear and chain drives. </div>
<div class="gmail_default" style="font-size:small">Have you had
any success using LIDAR or programs like Roborealm. (Herbert
uses Roborealm for some things). </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 Thu, Apr 30, 2020 at 10:16
AM David Anderson 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">
<div bgcolor="#FFFFFF">
<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>On 04/30/2020 11:50 AM, Robert Zeiler via DPRGlist
wrote:<br>
</div>
<blockquote type="cite">
<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"
target="_blank" 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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