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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Fri, 4 Aug 2000 07:38:02 GMT
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Viewed:
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1331 times
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Marco C. <lego-robotics@crynwr.com> wrote:
> 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 :)
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.
> > 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.
This is definitely true. And from what I read and understand the most used
combination is artificial landmarking in the long range and odometry in the
short one.
> I'm curious to see what solutions Mauro will come up with and implement in
> the end :)
I'm curious too :-)
Ciao
Mario
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Message is in Reply To:
 | | Re: Autonomous Robot
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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 (...) (25 years ago, 3-Aug-00, to lugnet.robotics)
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