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
- make BOM contact with another robot
- 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
- one solution to the 'master origin' problem for multiple robots is to start each robot at the same point with the same orientation
- Desired Properties