Subject:
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ANN: Article on dead-reckoning with a Mindstorms robot
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Newsgroups:
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lugnet.robotics.rcx
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Date:
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Thu, 30 Aug 2001 01:56:58 GMT
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Viewed:
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1390 times
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I thought that those of you who are interested in using
the Lego rotation sensors for dead-reckoning and navigation
might find the following useful.
This month's issue of the Seattle Robotics Society's
"Encoder" includes an article I wrote about my
RCX-based dead-reckoning robot. Last June, the robot
did pretty well in a odometry contest held by the
Connecticut Robotics Society ( http://www.ctrobots.org ).
The article discusses software issues related to
its operation.
You may find the article at
http://www.seattlerobotics.org/encoder/200108/using_a_pid.html
Peeves, a Mindstorms-based robot, is driven by a
differential-steering (wheelchair-style) wheel system.
It uses Dave Baum's NQC programming language to implement
a PID control algorithm that allows it to navigate with
acceptable results. The article includes algorithms, math,
and source code. For those of you interested in the
differential-steering technique, a related article appears at
http://rossum.sourceforge.net/papers/DiffSteer/
gary
P.S. I also want to post a heart-felt "thanks" to Dave Baum
for making his NQC available to the RCX community. NQC
was a joy to work with.
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