Subject:
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Re: 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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Fri, 31 Aug 2001 14:08:05 GMT
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Viewed:
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1449 times
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In lugnet.robotics.rcx, Gary Lucas writes:
> 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
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 corridor depends a lot upon 'aiming' at startup. How
did you do that? Also, how did the program 'know' where to begin a turn?
Again, congratulations for your good results.
Jerry
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