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c6jones720
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SICK PLS - 2007/09/26 20:55 This thread discusses the Content article: SICK PLS

Thats pretty cool! Im looking forward to seeing what software algorithms you come up with. Have you considered MSRS for this device?
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jamesbruton
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Re:SICK PLS - 2007/09/26 23:06 Yes, MSRS would be ok if there's hardware support for the PLS - I think that only the LMS is supported right now, but since it's on Windows it might not be too hard to/get someone else to modify the driver for the PLS.

I guess what's really needed however, is some out of the box navigation functionality - which is why Player should have been so good. Once all the laser data is in an array for each angle, then of course the tricky part is working out which way to go.

Maybe it would be possible to port/use/adapt the algorithms provided in Player since it's open source...?
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motters
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Re:SICK PLS - 2007/09/27 05:28 Using the laser you should be able to do very accurate navigation. I'm hoping to do something similar but using cameras as the main range sensors, which in the long run I think will be a cheaper and more practical solution.
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c6jones720
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Re:SICK PLS - 2007/09/27 17:07 if they are good then I would say

Maybe it would be possible to port/use/adapt the algorithms provided in Player since it's open source...?

is an excellent idea



Actually come to think of it Im sure Ive seen an MSRS video where they describe the processing algorithm for the other type of SICK laser. If I recall correctly theres a huge amount of data returned in an array. I think the programmers simply averaged it and threw a lot of it away focusing only on a few points.

I think they were simply using it for collision detection and obstacle avaoidance as opposed to navigation to a certain place I'm certain that it was an MSRS service for an Arcos Pioneer robot.

Post edited by: c6jones720, at: 2007/09/27 09:14
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jamesbruton
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Re:SICK PLS - 2007/09/27 22:19 Check out:

http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__wavefront.html

http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__vfh.html

http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__amcl.html

Essentially that's everything required for path planning, obstacle avoidance and also localization. They all link together so you can provide the 'planner' with coordinates and it will get there, given a map of the environment.
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motters
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Re:SICK PLS - 2007/09/27 23:09 I'm not very familiar with Player, but there does seem to be a missing component here - map construction. Monte carlo localisation only works if you already have a known map to work with.
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