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Subject: 
ANN: Article on dead-reckoning with a Mindstorms robot
Newsgroups: 
lugnet.robotics.rcx
Date: 
Thu, 30 Aug 2001 01:56:58 GMT
Viewed: 
1597 times
  
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.



Message has 2 Replies:
  Re: Article on dead-reckoning with a Mindstorms robot
 
Loved your article, reminds me of the great stuff the Boulette Robotics club does. I was curious why you used differential steering instead of an adder/subtractor or synchro drive, were there some rule limitations on parts you could use? "G.W. (...) (23 years ago, 30-Aug-01, to lugnet.robotics.rcx)
  Re: ANN: Article on dead-reckoning with a Mindstorms robot
 
(...) Gary, I enjoyed reading about the project. I liked the article with all of the links to interesting backup material. The results are ...impressive! I have two questions: The subject model does not have a long fore & aft axis. Staying in the (...) (23 years ago, 31-Aug-01, to lugnet.robotics.rcx)

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