Subject:
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Re: localization (was re: GPS)
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 12 Jan 2006 01:25:02 GMT
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Viewed:
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2480 times
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Hi John,
A localization scheme I have used with the RCX is uses the angles between light
beacons in known locations, measured with a rotating light sensor. Two angles
(3 beacons) are enough to calculate, with a bit of trig, the robot coordinates
and heading. The robot needs to know its position and heading accurately
enough to correctly determine which beacon is represented by a peak in light
intensity.
The accuracy of the scheme depends on the angle sensor accuracy and the geometry
of the robot position relative to the beacons. I localize the robot to within
about 8 inches, with beacons at the corners of an 8 x 16 foot rectangle.
The new light sensor that can distinguish colors with a stepper motor should
make the problem easier.
BTW, thanks for your great work on the MUP
Roger Glassey
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Message has 2 Replies:
 | | Re: localization (was re: GPS)
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| (...) There are lots of interesting varients on that theme: 1) A lateral thinking way to do that is to reverse the situation. Put a rotating laser pointer on top of the robot and hook up light sensors in the corners of the room to another (...) (19 years ago, 12-Jan-06, to lugnet.robotics)
| | | Re: localization (was re: GPS)
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| (...) I also played with a light beacon system, but with a twist. Well actually two twists. I used small pieces of "rear view mirror repair kit" mirror to make some 45 degree rotatable mirrors. These mirrors were used to make beacons with (...) (19 years ago, 12-Jan-06, to lugnet.robotics)
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Message is in Reply To:
| | Re: localization (was re: GPS)
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| (...) I have tried all sorts of tricks with ultrasonic stuff, you're right :) There are a couple of different schemes for the ultrasonic beacon type things. You can have ones which are triggered from the 'bot via radio or IR. I've tried the IR one. (...) (19 years ago, 11-Jan-06, to lugnet.robotics)
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