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(...) How are you doing navigation? I've been wanting to do the but every pure Lego-based approach has proved hopelessly inaccurate. Dunno about programming in VB though - sorry. ---...--- Steve Baker ---...--- Mail : <sjbaker1@airmail.net> (...) (22 years ago, 9-Jun-02, to lugnet.robotics)
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| | Rover Programming
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I have built a nice rover with two front sensors that just goes around hitting objects and making so its not kicked. I would like to program it better in VB or any other code that would let me show a map with every place where it has hit an object (...) (22 years ago, 10-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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This idea has been kicking around the newsgroup for quite some time. Here's a discussion from back in 2000: (URL) an idea I had, very similar to what you're thinking: (URL) the unfortunate conclusion to one person's attempt: (URL) the VB computer (...) (22 years ago, 11-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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I Like your idea and mine was a lot like (URL) I thought of using the rcx as a scout and finding the path. It would relay the data back to the pc and the pc would create and download a program that would drive the rcx to end of it's map. I was (...) (22 years ago, 11-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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My idea to solve the IR problem would be letting the rover move around for x time and then return to IR contact before going out again. We would have to think a little bit about new obstacles but I think that it can also be solved. Jonathan ----- (...) (22 years ago, 11-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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(...) OK, why does it need to communicate with the PC? The primary problem is dead reckoning navigation - which is hard on the 'out of the box' RIS because it's very hard to make a robot that can turn a controlled amount or travel a controlled (...) (22 years ago, 24-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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(...) Yep - VERY difficult. (...) It's *really* hard with any of the Lego Firmware options (eg NQC) because you can't access really large amounts of RAM. However, you could stand a chance with LegOS and GCC. (...) Unfortunately, you need THREE (...) (22 years ago, 26-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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(...) That's one solution, but it isn't essential. The other solution is to assume every square is empty until you've explored it. Obviously, if you get a 'goto' instruction before you've completely mapped the domain, then there's a possibility that (...) (22 years ago, 26-Jun-02, to lugnet.robotics)
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| | RE: Rover Programming
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Steve Baker Wrote: (...) I'm going to add a proviso here - when you hit something that you shouldn't have hit! Anyways, this is a very interesting idea, Steve. The bitmap analysis is fine. I don't think any of us with kids and a reasonably large (...) (22 years ago, 26-Jun-02, to lugnet.robotics)
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| | RE: Rover Programming
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(...) I meant to write: (...) I'm just making sure that nobody thinks expoling is an actual word. And if it was, I wonder what it would mean? Cheers, Ralph (22 years ago, 26-Jun-02, to lugnet.robotics)
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| | OT word definition... (was Re: Rover Programming)
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Maybe it refers to a gondola, uhm, pilot? Driver? Pole pushing person? Who is either retired or on break. :-) -- Baha Baydar bbaydar@hfx.eastlink.ca ----- Original Message ----- From: "Ralph Hempel" <rhempel@bmts.com> (...) (22 years ago, 26-Jun-02, to lugnet.robotics)
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| | Re: OT word definition... (was Re: Rover Programming)
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(...) "Gondolier" I believe it is. (URL) thinhk calling them a pusher may get YOU retired. :-) FUT o-t.fun (22 years ago, 26-Jun-02, to lugnet.robotics, lugnet.off-topic.fun)
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| | Re: Rover Programming
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(...) It's the opposite of impoling. ---...--- Steve Baker ---...--- Mail : <sjbaker1@airmail.net> WorkMail: <sjbaker@link.com> URLs : (8 URLs) (22 years ago, 27-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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(...) So how do you remember what you've already explored? I think you *need* three states if you want your robot to curiously explore it's environment without continually re-exploring areas that it's already visited but which proved to be empty. If (...) (22 years ago, 27-Jun-02, to lugnet.robotics)
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| | Dead reckoning (was Re: Rover Programming)
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(...) A systematic search pattern is one solution. Not being too anal about it is another - random walking the domain will eventually explore the whole of it, although increasingly inefficiently as time goes on. (...) It's killing me. My first (...) (22 years ago, 27-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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(...) While we're talking about programming rovers, could someone give me an example of a 'spiral drive around behavior' in either RCX Code (v1.5) or Gordon's Brick Programmer? Or how about code with two rotation sensors attached to the (...) (22 years ago, 27-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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(...) Try this (leJos): import josx.platform.rcx.*; import josx.util.*; import josx.robotics.Navigator; public class Test { public static void main (String[] arg) throws Exception { int size = 100; Navigator nav = new RotationNavigator( ( float)8.5, (...) (22 years ago, 27-Jun-02, to lugnet.robotics)
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| | Re: Dead reckoning (was Re: Rover Programming)
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(...) If you haven't already, check out (URL) was able to get quite precise dead-reckoning w/ a Lego bot by programming a PID-type controller. - Gareth (22 years ago, 27-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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I've been thinking a bit about using landmarks imitating ants. You should know that ants use different types of self-produced chemicals to mark the places they have been and the paths to follow. Using this with robots would mean using a light sensor (...) (22 years ago, 27-Jun-02, to lugnet.robotics)
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| | Re: Rover Programming
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<snip> (...) </snip> I hear dogs do a lot of that also... ;) -Rob (22 years ago, 27-Jun-02, to lugnet.robotics)
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| | Re: Dead reckoning (was Re: Rover Programming)
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(...) Yes - managing accelleration is a 'must'...both in speeding up and slowing down - and easing into turns. An abrupt change of speed will generally result in wheel slip. (...) It was good in a straight line - but *hopeless* in a turn because the (...) (22 years ago, 28-Jun-02, to lugnet.robotics)
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| | Re: Dead reckoning (was Re: Rover Programming)
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(...) WOW! That's impressive - but I can't help but get the impression that it's heavily optimised to going around that particular track. Getting that good positioning on the straight sections is impressive - but I wonder how it would have fared in (...) (22 years ago, 28-Jun-02, to lugnet.robotics)
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| | Re: Dead reckoning (was Re: Rover Programming)
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(...) Well, I did the code changes to do acceleration and deceleration yesterday and it's amazingly successful. I'm not yet quite as good as the Seattle robot, but I suspect that's at least partly because mine has a narrower track. I now believe (...) (22 years ago, 28-Jun-02, to lugnet.robotics)
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| | Re: Dead reckoning (was Re: Rover Programming)
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Hi Simon, In my experience casters can introduce errors in the navigation since they tend to not be in the correct position following a turn. Over time this small error can add up. I have had some success by rebuilding my bot to center as much of (...) (22 years ago, 28-Jun-02, to lugnet.robotics)
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