Subject:
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Re: Navigation using landmarks (Was: Re: lasers and RCX)
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 26 Jun 2002 21:58:08 GMT
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Original-From:
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PeterBalch <peterbalch@compuserve!IHateSpam!.com>
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Viewed:
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527 times
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This thread seems to have been going on for such a while I've forgotten
where it started. Was the original question: how does my robot know where
it is in a room?
Has anyone suggested ultrasonic (or audio) "beacons" in each corner of the
room?
The (say) four beacons A, B, C, D produce squeaks at intervals - say A,
100mS, B, 100mS, C, 100mS, D, 1sec. The robot measures the time difference
between successive squeaks.
If say the time difference between receipt of A and B is 98mS then the
robot knows it is on a particular hyperbola. The time differences A-B, A-C,
A-D, B-C, B-D and C-D each specify other hyperbolae. Where the hyperbolae
intersect is where the robot is - approximately. There are problems with
path lengths round furniture, etc. but it should be good enough.
(In the days before GPS I worked on radio navigation software that used a
commercial system like this - I think it was called Hyperfix. We had to
worry about path lengths through rain and fog.)
Peter
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