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Mapping¶
Goals¶
- For Meeting of the Minds (MoM)
- Five robots cooperatively gather data
- Server analyzes data and constructs a single map
- Server is able to direct a different robot through an environment of obstacles
- Short Term (next 1-2 weeks)
- Fix encoders
- Research Robotic Operating System (ROS)
- Develop multi-robot-behavior
Multi-Robot 4-9-2009 meeting¶
- smart-run-around for now
- possible use of wall following to map faster
- ignore differentiating robots and obstacles for now
Multi-Robot Behavior Brainstorming¶
- People to work on this: Abe, Brad, David
- David's ideas: see bottom of page (Multiple Robot Behavior)
- Adapt smart-run-around behavior
- Make it more intelligent?: better coverage, circle obstacles, etc...
- Differentiate between obstacles and other robots (use BOM)
- If there is a range reading in the same direction as a BOM flash (doesn't have to be max bom), disregard the reading
- This would be equivalent to replacing the data in the packet with a -1 reading
- Probably have to check the sensor matrix for this, because we care about more than just the last BOM reading
- Potential problem: odometry/encoders assumes starting position of (0,0)
- If matlab can stitch together maps regardless of position, then this might not matter
- Need to talk to Justin about this
*Want a high level robot tracker to orient the robots maps with BOM data
*Possibly use correlation to align maps (limit to robots that can see each other).
- For testing, just start robots in the same position/direction one after another
- Multiple rows of data per packet.
- TODO:
- Get smart-run-around working on a single robot gathering mapping data
- Add more robots
Meeting Minutes from 11/11/2008¶
- Mapping update Meeting
- work in trunk/code/projects/mapping
- Robot:
- driving, gathering encoder/range data
- sending data to server over wireless
- need to test frequency of sending packets
- Server:
- sending driving commands
- receiving data, output to file for MATLAB input
- space-separated values: x y theta IR1 IR2 IR3 IR4 IR5
- odometry on robots
- Multiple Robot Behavior:
- Desired Properties
- Overlapping maps
- Shared origin
- robots must know where they are in relation to each other to get this
- Actual Behavior
- make BOM contact with another robot
- estimated distance reading would help
- try to follow another robot
- could parallel path but moved over slightly to give a wider view while also corroborating data
- then treat as leader/follower in actions
- get groups to link up with each other and then separate to establish meeting point between maps
- Shortcuts
- one solution to the 'master origin' problem for multiple robots is to start each robot at the same point with the same orientation
- this isn't very useful and takes effort, but it works
- could also establish an initial offset in robots, but accurate initial placement would still be an issue