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HI,
I am currently working on a handyboard based dust buster bot(goofy, I
know) and have been trying to design an algorithm where my vehicle could
methodically cover all the area in a given room, starting by following along
the perimeter walls and then spiraling inward while avoiding obstacles(thus
dynamically modifying its saved path). I've come to the conclusion that
inorder to get back on track after avoiding an obstacle, my bot needs to
accurately determine its location. I figured a dead reckoning system to
establish a coordinate grid for any given room that it is navigating would
be inorder. To implement this I began using a system of perpendicular shaft
encoders, much like those found in an ordinary ball mouse. I had slippage
problems, however, (much like a regular ball mouse) and these manifested
inaccurate measurements. I have noticed that optical mice such aas the
Logitech M-BJ58 does not suffer slippage problems like an ordinary mouse,
and is in fact navigable on a wide variety of surfaces. I was wondering if
it would be somehow possible to adapt my optical mouse as a sensor. I would
need to determine the number of pulses/distance moved in both the x and y
axis, much like using to shaft encoders. The mouse is usb and I know it
uses CMOS based movement interpretation. Would anyone have any ideas on how
to adapt something like this to measure movement, or on how to modify a USB
device to read signals with a handy board(also how i would approach the
programming to interpret signals)
I know this is a large and complicated request, but if anyone has any ideas,
I would greatly appreciate it.
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Message has 2 Replies:
 | | Re: optical mouse as sensor?
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| I believe that some research work in autonomous vacuum cleaners in the late 90's determined that a random walk over the course of a few hours was just as good as a methodical path. I'll see if I can dig up the reference... (...) --- Karl ___...___ (...) (23 years ago, 24-Apr-02, to lugnet.robotics.handyboard)
| | | Re: optical mouse as sensor?
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| Hi Scott, You should consider taking the mouse appart and hooking up directly to the sensor. Most (all?) optical mice use sensors made by Agilent Technologies (formely part of HP). The early mice used the HDNS2000 sensor which had a PS/2 mode and a (...) (23 years ago, 1-May-02, to lugnet.robotics.handyboard)
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