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I had an idea to a project that I want to start in a very slow pace. In fact, it is based in lots of ideas already presented here in this list so I am not sure if someone already tried it before. Any help is welcome. The main goal is to build a Lego (...) (24 years ago, 1-Aug-00, to lugnet.robotics)
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(...) <snip a really interesting concept> Wow, I would love to see documentation of the process you go through here. Alone you might get discouraged with so complex a task. I got the Mindstorms 1.0 a few months ago but have yet to really fool with (...) (24 years ago, 1-Aug-00, to lugnet.robotics)
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I like these ideas. Pls keep the newsgroup up to date. I hope that you find a good and simple solution for the docking statio. I once made a bot which docked to a certain group of Legopieces...... ....That was all he could do and I used "billions of (...) (24 years ago, 1-Aug-00, to lugnet.robotics)
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Jason, Of course a second brain will help! Everything is in my mind yet and lots of issues are not solved. I hope this post generates interesting discussions on how to solve them. As I said I will test these approachs in a slow pace, most because of (...) (24 years ago, 2-Aug-00, to lugnet.robotics)
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Hi Mauro I find your project very challenging, being navigation one of my main interests inside Lego-robotics. About 18 months ago I made my first experience with pure odometry (no external landmarks) and found that in the short range it is *very* (...) (24 years ago, 2-Aug-00, to lugnet.robotics)
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(...) Would you necessarily have to keep all the brains and map data confined to the RCX? Taking the Visual Basic concept one step further, how about putting the entire intelligence routine on the PC and just using the RCX-based rover as a drone? (...) (24 years ago, 2-Aug-00, to lugnet.robotics)
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For mapping, you can use an ultrasonic sensor, like the one designed by John Barnes. This can find open areas up to 2 meters/yards away. Storing only object locations is best, IMO, because it uses the least space (there were posts on this before..). (...) (24 years ago, 2-Aug-00, to lugnet.robotics)
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What about a more powerful portable computer like the Palm, seat it on the bot and have the bot press buttons when an object or wall is hit, this would then translate to a line on a 2d drawing plain, the bot could press one button for draw(hit) and (...) (24 years ago, 3-Aug-00, to lugnet.robotics)
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Hi Mario, Mauro, (...) I tried to get away with a single rotation sensor on a differential drive (put it on one of the output), assuming that I one motor is not moving I could deduce total movement. Unfortunately the turning motor drifts slightly on (...) (24 years ago, 3-Aug-00, to lugnet.robotics)
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I've done that exactly that. It was almost finished about one year ago. I used a CyberMaster. I lost all the sources when the partitions in my hard disk gone kaput. I'm almost certain I've made a backup in a diskette, but it seems to have gone also, (...) (24 years ago, 3-Aug-00, to lugnet.robotics)
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I explored the use of a single rotation sensor to make a robot drive straight here: (URL) can use a differential to take the difference of the two motors' output; if the motors are not moving at the same speed, you'll see some movement on the (...) (24 years ago, 3-Aug-00, to lugnet.robotics)
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(...) Great approach :) ! Using "hardware" to "calculate" the delta, instead of doing it by software, "wasting" a second rotation-sensor. Great :) (...) Yup, just like every multi sensor-enabled living beeing, using a mix of memorised (/learned) map (...) (24 years ago, 3-Aug-00, to lugnet.robotics)
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That's what they use for gps positionning in cars : they both use the gps signal for raw positioning and wheels rotation for precise positionning. A bit like using two systems for the same task... Philippe (...) Philippe Jadin Votre site web en un (...) (24 years ago, 3-Aug-00, to lugnet.robotics)
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"Ian Warfield" <ipw47@hotmail.com> wrote in message news:FyoKFA.692@lugnet.com... (...) the (...) the (...) as a (...) rover (...) In fact I thought about that. I played with that already. Bert van Dam AI site ((URL) has some great ideas and (...) (24 years ago, 3-Aug-00, to lugnet.robotics)
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"Andy Gombos" <lego-robotics@crynwr.com> wrote in message news:39888843.D78EFA...hoo.com... (...) John (...) I saw a sensor like that in Michael Gasperi site ((URL) Maybe it's the same one. I am trying to use Lego pieces only. Don't understand me (...) (24 years ago, 4-Aug-00, to lugnet.robotics)
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(...) The proposed solution in the "Robot Tracking" thread sounds like it's exactly what's needed here. From the original post... (...) track the robot throughout a 20 ft x 20 ft room at a 1 Hz rate with an accuracy of 1-2 inches. In principle, the (...) (24 years ago, 4-Aug-00, to lugnet.robotics)
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"Mario Ferrari" <mario.ferrari@edis.it> wrote in message news:Fyo60o.6LF@lugnet.com... (...) the (...) about your old style car with 2 gears, remember? Your site is great. One of my favorites. If I decide to do one to present my ideas, that is one (...) (24 years ago, 4-Aug-00, to lugnet.robotics)
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(...) rotation (...) beam. (...) the (...) A direct hit is really almost impossible. That's what I found in mosts post about this matter. But if you aims that in a reflective convex surface, it will probably hit a light sensor in the emitter but (...) (24 years ago, 4-Aug-00, to lugnet.robotics)
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(...) Yes. It *is* a great approach, if your task is to go straight. Unfortunately it's not good for odometry, 'cause the delta alone is not enough to calculate your position & heading. (...) This is definitely true. And from what I read and (...) (24 years ago, 4-Aug-00, to lugnet.robotics)
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(...) questioned (...) Sure, I do :-) (...) my (...) Many thanks for your kind words about my and ItLUG sites. I'm happy you like them. I have recently slightly rearranged my site to make navigation easier. I'm going to post some new robots in a few (...) (24 years ago, 4-Aug-00, to lugnet.robotics)
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(...) a (...) the (...) reads (...) Sorry, Mario, I still didn't figure out your proposal. Could you explain that better? Did you (or anybody else?) already did that? Maybe if I can understand better looking at the code, if available... (...) that. (...) (24 years ago, 6-Aug-00, to lugnet.robotics)
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(...) still (...) of (...) one (...) It's true that when you're on the border of the tape your light sensor reads an average value, but if you continue in the same direction you will finally get into the middle of the tape and supposing the tape is (...) (24 years ago, 6-Aug-00, to lugnet.robotics)
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(...) Hmmm - but if the robot was driving nearly parallel to a white tape, then hit the boundary (thus getting a prolonged mid-grey value) and then drifted off just enough to get back over dark floor - then the input to the sensor could exactly (...) (24 years ago, 6-Aug-00, to lugnet.robotics)
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(...) still (...) of a (...) one from (...) see the (...) reads (...) situation. (...) reads (...) finally (...) you (...) to do (...) drifted (...) You're right. Some specific behaviour might improve the chances to understand the situation. For (...) (24 years ago, 7-Aug-00, to lugnet.robotics)
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in article 398D9DA5.300D416C@airmail.net, Steve Baker at lego-robotics@crynwr.com wrote on 8/6/00 10:17 AM: (...) <regretfully snipped excellent discussion of using line following to find bar codes for landmark recognition> It would be nifty if you (...) (24 years ago, 8-Aug-00, to lugnet.robotics)
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I thought of another possibility for robot coordinate recognition. It's rather unorthodox, however, and requires some special equipment and setup to make it work. Still, in the interest of creative discussion... Building off the base station idea (...) (24 years ago, 8-Aug-00, to lugnet.robotics)
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(...) Yes - that's where I started thinking. It seemed to me that if the circle was large enough, odometry would put you inside the circle - then driving out of the circle in any direction would get you to cross all the bar codes. Presuming you use (...) (24 years ago, 8-Aug-00, to lugnet.robotics)
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(...) Clever! ...Food for thought! The only snag I can see is that when the first laser is being acquired, both the tower and the robot have to spin. It might take a LOT of rotations for them both to happen to be pointing in the right direction for (...) (24 years ago, 8-Aug-00, to lugnet.robotics)
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(...) Thanks! (...) Not if you used an omnidirectional laser sensor. Picture, instead of only one face of paper, a paper cylinder. There would be a tube of paper mounted on top of a circular LEGO piece (or *pieces* arranged in a circle) with a paper (...) (24 years ago, 8-Aug-00, to lugnet.robotics)
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(...) both (...) for (...) one (...) on (...) paper (...) Now (...) paper (...) Wherever (...) I find Ian's proposal about the laser tower very clever. The only bad point about using an omnidirectional laser sensor on the robot is it can't get any (...) (24 years ago, 8-Aug-00, to lugnet.robotics)
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in article FyyAqy.5zy@lugnet.com, Ian Warfield at ipw47@hotmail.com wrote on 8/7/00 6:56 PM: (...) That's what this is all about, after all. Type on! (...) There are two ways to design a laser sensor - directional or omnidirectional. Either way (...) (24 years ago, 9-Aug-00, to lugnet.robotics)
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in article 398F84B6.F9AE89A8@airmail.net, Steve Baker at lego-robotics@crynwr.com wrote on 8/7/00 8:55 PM: (...) Of course, if odometry puts you inside the circle, you don't need bar codes because you already know where you are! (...) True, and I (...) (24 years ago, 9-Aug-00, to lugnet.robotics)
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(...) You can work it out easily enough - if you know the height of the tower and the angle of the laser to the ground. For (say) a 1 meter tall tower, the error (in meters) is 1 / tan ( A ) - 1 / tan ( A + 1 ) ...so if the beam is at 45 degrees to (...) (24 years ago, 10-Aug-00, to lugnet.robotics)
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(...) No - the idea is that the odometry only has to be accurate enough to get you ANYWHERE within (say) a 1 foot radius circle. Then you drive away and read whichever section of the barcode you happen to cross on the way out - which tells you your (...) (24 years ago, 10-Aug-00, to lugnet.robotics)
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in article 3991FAAF.A8D0FDBA@airmail.net, Steve Baker at lego-robotics@crynwr.com wrote on 8/9/00 5:43 PM: (...) <snip> (...) You can handle this two ways. 1) omnidirectional laser sensor with cylindrical cross-section, which always has the same (...) (24 years ago, 10-Aug-00, to lugnet.robotics)
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(...) Yep - that would work - but we don't have an omni-directional sensor. I guess a conical diffuser with a regular lego sensor pointing straight upwards would work OK though. (...) Yes - I wanted to avoid having to continually distract the robot (...) (24 years ago, 11-Aug-00, to lugnet.robotics)
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in article 399399F2.ADECFC6D@airmail.net, Steve Baker at lego-robotics@crynwr.com wrote on 8/10/00 11:15 PM: (...) That's the sort of thing I've been imagining. JP Brown's Laser Target invention (URL) be generalized up to something involving a paper (...) (24 years ago, 11-Aug-00, to lugnet.robotics)
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