Subject:
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Re: Autonomous Robot
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 3 Aug 2000 16:18:48 GMT
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Original-From:
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Marco C. <MARCO@saynotospamSOPORCEL.PT>
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Viewed:
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1286 times
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At 14:56 03-08-2000 GMT, Jonathan Knudsen wrote:
> http://www.oreillynet.com/pub/a/network/2000/05/22/LegoMindstorms.html
> You 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 rotation sensor.
Great approach :) ! Using "hardware" to "calculate" the delta, instead of
doing it by software, "wasting" a second rotation-sensor. Great :)
> My conclusion was that dead reckoning alone is not enough--you should
> periodically calibrate with another navigation technique, like using
> landmarks.
Yup, just like every multi sensor-enabled living beeing, using a mix of
memorised (/learned) map or path description with real-time adjustments to
it, by checking from time-to-time for landmarks while constantly
(inconsiently?) adapting the way to move and avoid obstacles.
That's why I see the "Where am I and how do I get there" problem only
solvable, not by using simply "the best" technic, but through a *mix* of
these and other frequently "oposite" technics.
I'm curious to see what solutions Mauro will come up with and implement in
the end :)
____________________
Marco C. aka McViper
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Message has 1 Reply:
 | | Re: Autonomous Robot
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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 (...) (25 years ago, 4-Aug-00, to lugnet.robotics)
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Message is in Reply To:
| | Re: Autonomous Robot
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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 (...) (25 years ago, 3-Aug-00, to lugnet.robotics)
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