Autonomous Robotics & Navigation
In spring 2014, I had my first experience working on robotics. Me and a classmate received a robot kit called the "4WD Hercules Mobile Robotic Platform". During my time with it, I programmed in the Arduino IDE using C++ and implemented various functionality including:
- Ultrasonic detection to facilitate obstacle avoidance and reaction
- LEDs
- Light sensors
- Replicated Braitenberg vehicle behavior in which the robot would either follow and accelerate toward a light source or run away and accelerate away from a light source.
- Dead Reckoning navigation algorithm via odometry
- Using this, we were able to get our robot to autonomously navigate a 10x10 grid starting at a corner. The robot would reach the goal located at another corner and return to its initial position via odometry calculations.
- Throughout this process the robot is always avoiding obstacle in its path and staying within the boundary.
- Obstacles encountered by our robot were stored in a bitmap so it would "remember" obstacle locations.
I'm currently working with the Hercules Mobile Robotic Platform. I'll be using a Beaglebone Black for additional processing power and xbee modules for real time communication. I'll post my work when it's ready. I see you have done a lot with this platform already. Would you be willing to share some of your data and code? I'm not wanting to copy you. I just find going over other peoples code and thoughts helps for inspiration. Thanks.
ReplyDeleteI'm currently working with the Hercules Mobile Robotic Platform. I'll be using a Beaglebone Black for additional processing power and xbee modules for real time communication. I'll post my work when it's ready. I see you have done a lot with this platform already. Would you be willing to share some of your data and code? I'm not wanting to copy you. I just find going over other peoples code and thoughts helps for inspiration. Thanks.
ReplyDelete