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croc999
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Re:General Status??? - 2008/11/14 05:15 Glad to hear this thread has done something constructive

As you have noted, compass, IR's, GPS, etc all have their own issues, so they are not entirely reliable.
My approach for navigation and localization has been to have a fixed map that I created that I know is accurate, then on the map I have placed a few (need to add more) image markers that my robot has been trained to recognize, sort of like visual waypoints, that will allow it to find where it is located and then when travelling to a destination it can then check its progress along the way to make sure it is heading in the right direction. So by doing this if it "sees" and object that it knows, it can get a rough estimate of its location in relation to the object, this combined with compass, sonar and IR data can then be refined to be pretty close to its real world position. Based on the testing I have done, this works out pretty well, but this is still a work in progress.

Other things that can be done for compass/odmetery drift that I have planned to add is using the existing walls in a home, for example if your in a hallway, use the walls on each side, or even a single wall, if the robot maintains its relative distance from the wall then you can be pretty assured that you are travelling in a straight line regardless of the compass reading, since most hallways are straight.
Or if in a hallway (most hallways are a known fixed distance wide so a few sensor readings and the robot can guess reasonably well that it is in a hallway) the robot can correct its position by centering itself within the hallway, this will minimize avoidance issues when passing through doorways.


The issue that I have with self mapping is that once the map is created a human then needs to interact with it to set up some sort of marker or clean it up etc, so my point is that if you have to do this anyway why not just give it an accurate map to start with. Would I like to see a robot create a map and then have it be able to completely and accurately use this without human intervention sure, but that is quite a ways off, so I would prefer to tackle getting the navigation/localization side down to where it is so common place that its not even considered cool (the way we take windows for granted, remember the apple II ascii interface ), then tackle the next progressive step, but we can agree to disagree on this. Nice pics by the way, I'm not apposed to vslam, I just think we are too early in the curve for it to be useful, there are bigger fish to fry, IMO

IR sensors as you note are good but not great, same goes for sonar, what I have done is mounted them both as a pair for the front and side facing sections of my robot, so between the two sensors I should be able to leverage both of their strengths to get better data than from just single sensor, again this is still in progress, I have the IR function completed and tested but have not had time to combine the data from both as yet.
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      Topics Author Date
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General Status???
croc999 2008/11/08 00:21
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c6jones720 2008/11/09 19:10
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croc999 2008/11/11 00:32
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c6jones720 2008/11/11 01:54
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croc999 2008/11/11 03:55
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jamesbruton 2008/11/11 04:13
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c6jones720 2008/11/11 16:53
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croc999 2008/11/12 00:35
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jamesbruton 2008/11/12 21:53
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c6jones720 2008/11/12 23:31
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croc999 2008/11/13 06:34
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c6jones720 2008/11/13 16:24
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jamesbruton 2008/11/13 17:22
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croc999 2008/11/13 23:58
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c6jones720 2008/11/14 03:43
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croc999 2008/11/14 05:15
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GRUNT 2008/12/01 07:17
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c6jones720 2008/12/02 22:21
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croc999 2008/12/03 00:45
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GRUNT 2008/12/03 23:11
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croc999 2008/12/03 23:53
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GRUNT 2008/12/04 05:36
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GRUNT 2008/12/04 05:54
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croc999 2008/12/04 10:01
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GRUNT 2008/12/05 22:58
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Marcus8675 2008/12/24 10:30
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c6jones720 2008/12/24 16:29