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NXC: navigation robot based on odometry, gyro, and compass
Posted: 05 Aug 2011, 09:05
by HaWe
NXC: a simple approach for a navigation robot based on odometry, gyro, and compass sensor, still experimental stage.
No advanced stochastic filters in the moment, just medians and means (an additional accelerometer and a Kalman or a particle filter planned for the future)
Rather satisfactory results both indoors and even outdoors with bad odometry data.
http://www.mindstormsforum.de/viewtopic.php?f=70&t=6746
Re: NXC: navigation robot based on odometry, gyro, and compass
Posted: 05 Aug 2011, 10:50
by gloomyandy
Hi Doc,
Looks interesting... Do you have any video of it in action, or any data on how well it performs?
Looking forward to seeing how this develops...
Andy
Re: NXC: navigation robot based on odometry, gyro, and compass
Posted: 05 Aug 2011, 11:40
by HaWe
sry, no video currently. You may see on the foto that there is a 2x twin-wheel-motion which worsens the turning/spinning behaviour and thus worsens odometry data (but it's better for traction outdoors).
This is a short test I made several times reproducibly:
vehicle size: 30cm x 40cm.
Start at any Position, set as (0,0)
heading 76° (about east-north-east, to compass) =>
1.targeting Position (50,50);
heading 45° (north-east),
driving 71cm to position (50,50); [cm]
2. targeting Position (50,-50);
heading 180° (south)
driving 100cm to position (50,-50);
3. targeting Position (0,0);
heading 315° (north-west),
driving 71cm back to start position (0,0);
finally:
again turn to initial compass heading, in my case 76°.
the positioning error is
dY=+1cm
dX=-5cm