Subject:
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Re: IR collision avoidance
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Thu, 27 Feb 1997 02:28:52 GMT
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Original-From:
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EDWIN SALGADO <INCA@avoidspamSFSU.EDU>
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Viewed:
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1600 times
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On Mon, 24 Feb 1997, Richard Vannoy wrote:
> We have "forward" and 45 degrees right". We wall hug to the right while
> you hug to the left. We ignore IR to left and use only the left contact
> switch for collisions (rare).
>
> We had way too much power and noise with "together" mounting. We
> finally mounted xmitter 2 inches above with a small copper plate to
> sheild the transmitter from direct transmission to the receiver. And we
> had to use sheilded cable for whatever left the circuit boards.
>
> Ours is similar but does not allow ahead straight. We do...
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> front blocked right blocked action
>
> YES Don't care Turn left 90 degrees.
>
> NO YES Turn wheel 10 degrees left
>
> NO NO Turn wheel 5 degrees right
>
> This puts the robot in a long slow right arc till a wall is detected.
> Then, untill a corner comes up the shift between 10 left and 5 right
> keeps the bot a nice 18 inches from the wall. People who don't know
> that the wheel is almost constantly "correcting" don't even notice it.
> To them it looks like a straight line.
>
>
** My only question is how do you keep the bot at a constant 18 inches
** away from the wall with a collision detection algorithm? Is it
** possible to get analog outputs from a sensor indicating the
** distance from a wall? Or is there is better way to do this?
> Good algorithm!! I didn't use a loop because the response seems great
> when we react to any "blocked". So far I've seen no noticable
> transient/false signals, but your way seems much more elegant.
>
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Message has 1 Reply:
 | | Re: IR collision avoidance
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| (...) Good question! We had a lot of noise problems and learning curve stumbles along the way. Our first bad news was that we had a range of a few inches. We finally beat that one fooling with frequencies, caps, etc. and then found out our range was (...) (28 years ago, 27-Feb-97, to lugnet.robotics.handyboard)
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Message is in Reply To:
| | Re: IR collision avoidance
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| Some comments and a few questions for Chris (...) We have "forward" and 45 degrees right". We wall hug to the right while you hug to the left. We ignore IR to left and use only the left contact switch for collisions (rare). (...) We had way too much (...) (28 years ago, 25-Feb-97, to lugnet.robotics.handyboard)
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