<html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=us-ascii">
<style type="text/css" style="display:none;"> P {margin-top:0;margin-bottom:0;} </style>
</head>
<body dir="ltr">
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
Robert,</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
Given that you are dealing with Lidar and have an application that requires SLAM techniques, you probably want to take a look at ROS (Robot Operating System). You get a lot of highly sophisticated building blocks from which you can construct your own application,
but the learning curve is steep even if you have a strong software background. I believe the DPRG youtube channel has some Lidar and ROS videos.</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
Regards,</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
Chris</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
P.S.: I'm not a DPRG member (since I live in the North East...), just a regular visitor to the DPRG YouTube channel and mailing list.....<br>
</div>
<div id="appendonsend"></div>
<hr style="display:inline-block;width:98%" tabindex="-1">
<div id="divRplyFwdMsg" dir="ltr"><font face="Calibri, sans-serif" style="font-size:11pt" color="#000000"><b>From:</b> DPRGlist <dprglist-bounces@lists.dprg.org> on behalf of David Anderson via DPRGlist <dprglist@lists.dprg.org><br>
<b>Sent:</b> Thursday, April 30, 2020 1:15 PM<br>
<b>To:</b> dprglist@lists.dprg.org <dprglist@lists.dprg.org><br>
<b>Subject:</b> Re: [Dprglist] (no subject)</font>
<div> </div>
</div>
<div style="background-color:#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 class="x_moz-cite-prefix">On 04/30/2020 11:50 AM, Robert Zeiler via DPRGlist wrote:<br>
</div>
<blockquote type="cite">
<div dir="ltr">
<div class="x_gmail_default" style="font-size:small">Hi all</div>
<div class="x_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="x_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="x_gmail_default" style="font-size:small"><br>
</div>
<div class="x_gmail_default" style="font-size:small">Robert</div>
</div>
<br>
<div class="x_gmail_quote">
<div dir="ltr" class="x_gmail_attr">On Wed, Apr 29, 2020 at 5:22 PM Murray Altheim via DPRGlist <<a href="mailto:dprglist@lists.dprg.org">dprglist@lists.dprg.org</a>> wrote:<br>
</div>
<blockquote class="x_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">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">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">
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">
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">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>
_______________________________________________<br>
DPRGlist mailing list<br>
<a href="mailto:DPRGlist@lists.dprg.org" target="_blank">DPRGlist@lists.dprg.org</a><br>
<a href="http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org" rel="noreferrer" target="_blank">http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org</a><br>
</blockquote>
</div>
<br>
<fieldset class="x_mimeAttachmentHeader"></fieldset> <br>
<pre>_______________________________________________
DPRGlist mailing list
<a class="x_moz-txt-link-abbreviated" href="mailto:DPRGlist@lists.dprg.org">DPRGlist@lists.dprg.org</a>
<a class="x_moz-txt-link-freetext" href="http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org">http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org</a>
</pre>
</blockquote>
<br>
</div>
</body>
</html>