June 22, 2003
ER1 navigation by landmarks
Well I set out to create a group of behaviors that would command ER1 to do the fllowing:
- Listen for "Robot"
- Listen for "Go"
- Navigate to a quilt object landmark within 2 feet
- Turn 180
- Navigate to the Base object landmark within 2 feet
- Turn 180
Well after tinkering with it for about an hour, I ran into a couple problems. When the robot approached the quilt it did not always end up perpendicular to the quilt, so the 180 degree turn would place the robot on a trajectory course toward the couch or the entertainment center. I failed to put object avoidance on so the robot would collide with both objects on it's return path. I enabled the object avoidance but I did not have time to tune it so the collision still occured. I ran out of time since I had to go into work today so I thought I would save this task for another day and start on something simpler. I will attempt to just program the robot to navigate to the base 1 object within several feet and avoid obstacles. Then I will see if I can command it to straighten out using the IR detectors. This will ensure the robot is lined up with the landmark before it executes it's turn command.
UPDATE:
see the update to this entry
Posted by Mike Linnen at June 22, 2003 11:17 AM
