June 23, 2003
ER1 navigation by landmarks
I went back to trying this tonight. Look at my
first attempt here. This time I had some great success.
First I broke up the behaviors into mini programs. The cool thing about one of the new features of the ER1 software is the ability to trigger the loading of a new set of behaviors. So you can have a sequence that loads a completely new set of behaviors. So I ended up with three mini programs to do the job of detecting the quilt accross the room, navigate to it, spin around and navigate back to home base.
So here is a short summary of each program
- Program 1: Detect the quilt and navigate within 4 ft of it
- Program 2: If the quilt is detected rotate 180 degrees to the right
- Program 3: If the Home Base is detected navigate within 3 ft of it
This time I also took several snapshots of the destination landmarks at different distances to improve the overall detection at different distances. This improved the landmark navigation a heck of a lot. I am amazed at the pattern recognition of the software that comes with ER1. This software package is well worth the price of the robot.
Here are the snapshots of the quilt landmark on one side of my recreation room.
Here are the snapshots of the Home Base landmark on the other side of my recreation room.
Well this proved that I can do landmark navigation and the tasks can be broken up into multiple mini tasks. Now all I need to do is create another mini task that does the voice recognition of "Robot" "Go" and this mini task could launch Program 1 and I will have completed my entire robot navigation by landmarks project.
Posted by Mike Linnen at June 23, 2003 09:34 PM
