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Attempt at triangulation — Parallax Forums

Attempt at triangulation

agfaagfa Posts: 295
edited 2010-05-21 16:54 in Robotics
I wanted to share my first bit of success with my bot / beacon positioning efforts.· I’ve posted some pics,and a link of an odometry test and a positioning demonstration.· As you can see, it’s riddled with problems, but to me it’s still a success.

I had been working on odometry and dead reckoning for quite some time now.· Ultimately I wanted to have a roving bot that could navigate a given area such as inside my home or in my yard and find it’s own charging station, but wasn’t sure how it accomplish it.· I was inspired by Phil Pilrim’s post where he demonstrated a method of using the ping and IR to determine distance to a beacon, and suggested a method of triangulation.

I built my bot out of wood, two Faulhaber motors, and a prop.· I used another prop to control, 2 teathered beacons, some IR components, and transducers from All Electronics.· After I get some of the kinks worked out of this bot I plan to build a larger bot for outdoor navigation.· I would like to use RF instead of IR to trigger the sonar measurements.



Odometry test··· ·http://www.youtube.com/watch?v=loewiQn3VXw

Positioning······ http://www.youtube.com/watch?v=BWFDocLw_8M


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Comments

  • ScopeScope Posts: 417
    edited 2010-05-16 19:14
    Way cool

    I wish I could put one on my mother in law's car - when she got within a mile of my house, the car would automatically take her to the land fill instead.

    Safely, of course.

    Thanks for sharing your stuff - very nice
  • HobbyistHobbyist Posts: 14
    edited 2010-05-17 02:05
    Cool.. I've fooled around with a few position feedback strategies... you've managed to get a lot further than I ever did.. very impresive.
  • WhitWhit Posts: 4,191
    edited 2010-05-17 02:13
    Very impressive agfa!

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  • ercoerco Posts: 20,256
    edited 2010-05-17 02:42
    agfa: BRAVO! Brilliant work, I thought I was all alone in the "navigation by dead reckoning" camp, but you nailed it! Great triangulation work, too. I'm also intrigued at the possibility of whole-house navigation. I have more directional techniques to test on my homebuilt Retrobot, and I'm buoyed by your interest, post, and videos. Keep up the excellent work!

    erco

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  • ercoerco Posts: 20,256
    edited 2010-05-20 03:38
    This guy didn't make it far down the road to triangulation, but made a great laser·system: ·
    http://www.philohome.com/sensors/lasersensor.htm· check the last link & video. There's room for improvement!

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    ·"If you build it, they will come."
  • agfaagfa Posts: 295
    edited 2010-05-20 21:57
    erco said...
    There's room for improvement!
    I've left plenty of room for improvement.

    Thanks for the link.· I haven't given any serious thought·to lasers.· I'll have to look into it.

    Thanks for all the replys.
  • VeganRobotVeganRobot Posts: 17
    edited 2010-05-21 05:52
    Awesome, I had plans to do almost the same thing but it's a little advanced for me right now. It's good to see somebody accomplishing it. Good work. I'm especially impressed about a recharging station, you could have a security robot on patrol almost indefinitely.
  • CannibalRoboticsCannibalRobotics Posts: 535
    edited 2010-05-21 16:54
    Very cool... I've always thought the secret to indoor location and navigation was a mixed media solution.
    Great work!

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