Subject:
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New navigation API for LeJOS
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Newsgroups:
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lugnet.robotics.rcx.java
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Date:
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Wed, 27 Sep 2006 15:08:27 GMT
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Viewed:
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12041 times
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Hello Paul,
first of all, thank you very much for providing LeJOS.
I am a member of the project team for the master courses at the
University of Applied Studies and Research in Wernigerode, Germany
(Hochschule Harz). In our project thesis we decided to work on the
Mindstorms by using LeJOS. Our goal was to improve the navigation
functions (odometry) for two-wheeled robots which are only using their
rotation sensors. We included a software PID controller that is capable
of correcting errors of the movement caused by the plastic parts and the
divergence of the motor power.
The so called lejON-API is not like the RotationNavigator class but is a
little bit more precise in driving and much more precise in
self-location. Additionally, the user is able to let the bot curve
circularly. All LeJOS methods are low-level functions. So, we only have
to adapt those for NXT.
If you like, take a look at lejON which is available as an Open Source
project at http://lejon.sourceforge.net/.
Feel free to download everything and construct the bots provided online.
There is lots of documentation with a big part about evaluation. Sadly,
this is currently available in German only. We are working on English
versions (but it may take a while as we all are working on other things
like master theses and an article and a presentation about lejON for a
local symposium in October).
In case of any questions, please contact me via this address. We are
looking forward to hearing from you!
Best regards on behalf of the project team,
Florian Ruh
Diplom-Informatiker (FH)
Hochschule Harz in Wernigerode, Germany
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