Keeping a robot on a straight path
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Posts: 46,084
I want to build a mower bot for my yard. My yard will have bumps that I
imagine will get the robot off course. How are people typically
taking measures to make the robot aware that it is off track because of
bumpy conditions - are they using encoders ?
imagine will get the robot off course. How are people typically
taking measures to make the robot aware that it is off track because of
bumpy conditions - are they using encoders ?
Comments
yard and mow back and forth until it reaches the other end of the yard (
i.e.
not random mowing ) Robocut uses Infared to get it back to base, and buried
wire to prevent it from going into the neighbor's yard. My yard has a
lot of bumps. It will get off track. How do I keep it on a straight line ?
>
Original Message
> From: Bruce Bates [noparse]/noparse]SMTP:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=4ODK8qnVH6i7yfHUcg5ShAvcfTNIX_-UceKp_QzKLKrr7nPADUFpJyBIHgP3bnYoRiKdsnVn73xq6MGTeIrg]bvbates@u...[/url
> Sent: Monday, March 11, 2002 5:17 PM
> To: basicstamps@yahoogroups.com
> Subject: Re: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
>
> At 04:32 PM 3/11/2002 -0600, you wrote:
> >I want to build a mower bot for my yard. My yard will have bumps that I
> >imagine will get the robot off course. How are people typically
> >taking measures to make the robot aware that it is off track because of
> >bumpy conditions - are they using encoders ?
> >
> >Bryan -
>
> You may find this web site of interest:
> http://www.lls.se/~mux/micro/wwwrc_us/indext.htm
>
> Regards,
>
> Bruce Bates
>
>
>
> To UNSUBSCRIBE, just send mail to:
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> Body of the message will be ignored.
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>
>I want to build a mower bot for my yard. My yard will have bumps that I
>imagine will get the robot off course. How are people typically
>taking measures to make the robot aware that it is off track because of
>bumpy conditions - are they using encoders ?
>
>Bryan -
You may find this web site of interest:
http://www.lls.se/~mux/micro/wwwrc_us/indext.htm
Regards,
Bruce Bates
along one or opposite sides. Then the robot uses these to home in on the
course to stay straight. A low power laser would work too, but it's more
expensive. You could also have the robot be able to turn on or off each
transmitter as it traverses the course.
A more sophisticated method might be to use a digital compass and maybe GPS
as well along with object detectors and/or border detectors so the robot can
hold a course and go around things like trees, chairs and such. Usually GPS
doesn't work well at less than 10 feet or so, so the digital compass would
allow the robot to hold a heading too.
If you can get a IR detector or something sensitive enough you could use it
like a line follower program or wall follower program so that the robot
knows to use the just mowed part to line up with when it mows the next row.
Original Message
From: Bryan Smith [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=r746zv_MhKFCKF0yT8BiECRBffVY9IMVbZGIUIurhLSShbPvR-HwyB5YfDUjLlsi8fE6mZvpotqtn7s]bsmith@w...[/url
Sent: Monday, March 11, 2002 4:59 PM
To: 'basicstamps@yahoogroups.com'
Subject: RE: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
I've already looked at Robocut. I want my robot to start at one end of the
yard and mow back and forth until it reaches the other end of the yard (
i.e.
not random mowing ) Robocut uses Infared to get it back to base, and buried
wire to prevent it from going into the neighbor's yard. My yard has a
lot of bumps. It will get off track. How do I keep it on a straight line ?
>
Original Message
> From: Bruce Bates [noparse]/noparse]SMTP:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=F2RdMZ7-30bL4gxf4idy7bZO-OYa966QiPgrxJM7blH9KNv4OF8H4XSoeTYwMuKi-VbSM3K-a6S9RhoZ__o]bvbates@u...[/url
> Sent: Monday, March 11, 2002 5:17 PM
> To: basicstamps@yahoogroups.com
> Subject: Re: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
>
> At 04:32 PM 3/11/2002 -0600, you wrote:
> >I want to build a mower bot for my yard. My yard will have bumps that I
> >imagine will get the robot off course. How are people typically
> >taking measures to make the robot aware that it is off track because of
> >bumpy conditions - are they using encoders ?
> >
> >Bryan -
>
> You may find this web site of interest:
> http://www.lls.se/~mux/micro/wwwrc_us/indext.htm
>
> Regards,
>
> Bruce Bates
>
>
>
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Original Message
From: "Bryan Smith" <bsmith@w...>
To: <basicstamps@yahoogroups.com>
Sent: Monday, March 11, 2002 2:58 PM
Subject: RE: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
> I've already looked at Robocut. I want my robot to start at one end of
the
> yard and mow back and forth until it reaches the other end of the yard (
> i.e.
> not random mowing ) Robocut uses Infared to get it back to base, and
buried
> wire to prevent it from going into the neighbor's yard. My yard has a
> lot of bumps. It will get off track. How do I keep it on a straight line
?
>
>
>
> >
Original Message
> > From: Bruce Bates [noparse]/noparse]SMTP:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=daz5B2BReFbDx4ieLCO-izSJdgufAG1RrB-Izwp9TrB8VgNKlFnfN_uzH-TIG_9ecVIUuWD5x0E6gVQ3Ew]bvbates@u...[/url
> > Sent: Monday, March 11, 2002 5:17 PM
> > To: basicstamps@yahoogroups.com
> > Subject: Re: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
> >
> > At 04:32 PM 3/11/2002 -0600, you wrote:
> > >I want to build a mower bot for my yard. My yard will have bumps that
I
> > >imagine will get the robot off course. How are people typically
> > >taking measures to make the robot aware that it is off track because of
> > >bumpy conditions - are they using encoders ?
> > >
> > >Bryan -
> >
> > You may find this web site of interest:
> > http://www.lls.se/~mux/micro/wwwrc_us/indext.htm
> >
> > Regards,
> >
> > Bruce Bates
> >
> >
> >
> > To UNSUBSCRIBE, just send mail to:
> > basicstamps-unsubscribe@yahoogroups.com
> > from the same email address that you subscribed. Text in the Subject
and
> > Body of the message will be ignored.
> >
> >
> > Your use of Yahoo! Groups is subject to
http://docs.yahoo.com/info/terms/
> >
>
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>
>
You could lay a cable the whole way, waving back and forth over the
lawn. Then it would just follow the cable to home and back. I also do
not think that a gps would be accurate enough to keep the mover on
track, as a 1 ft deviation would be pretty obvious.
One way could be to have different infrared beacons transmitting
different signals:
1> <2
3> <4
5> <6
7> <8
9> <10
The robot first goes to 1, then two, etc. Also kind of impractical.
How about hiring the boy across the street? ... right, that's no fun...
pj
Original Message
From: "Bryan Smith" <bsmith@w...>
To: <basicstamps@yahoogroups.com>
Sent: Monday, March 11, 2002 2:58 PM
Subject: RE: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
> I've already looked at Robocut. I want my robot to start at one end
of
the
> yard and mow back and forth until it reaches the other end of the yard
(
> i.e.
> not random mowing ) Robocut uses Infared to get it back to base, and
buried
> wire to prevent it from going into the neighbor's yard. My yard has a
> lot of bumps. It will get off track. How do I keep it on a straight
line
?
>
>
>
> >
Original Message
> > From: Bruce Bates [noparse]/noparse]SMTP:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=6TCjdWtga44hzF4LT_rbhoA9ZnzoUO4kjapUJmN4hBcdnpO954J61eVwNw0vBXYzsmGPq_d43YFR9fN6RopO]bvbates@u...[/url
> > Sent: Monday, March 11, 2002 5:17 PM
> > To: basicstamps@yahoogroups.com
> > Subject: Re: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
> >
> > At 04:32 PM 3/11/2002 -0600, you wrote:
> > >I want to build a mower bot for my yard. My yard will have bumps
that
I
> > >imagine will get the robot off course. How are people typically
> > >taking measures to make the robot aware that it is off track
because of
> > >bumpy conditions - are they using encoders ?
> > >
> > >Bryan -
> >
> > You may find this web site of interest:
> > http://www.lls.se/~mux/micro/wwwrc_us/indext.htm
> >
> > Regards,
> >
> > Bruce Bates
> >
> >
> >
> > To UNSUBSCRIBE, just send mail to:
> > basicstamps-unsubscribe@yahoogroups.com
> > from the same email address that you subscribed. Text in the
Subject
and
> > Body of the message will be ignored.
> >
> >
> > Your use of Yahoo! Groups is subject to
http://docs.yahoo.com/info/terms/
> >
>
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>
>
>
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I don't want to weave wire up and down accross my yard - but I will use the
wire for the perimeter. I'm still
trying to decide if I'll do the beaconing, or something else.
http://www.lls.se/~mux/micro/robocut_us.html
>
Original Message
> From: Kerry Barlow [noparse]/noparse]SMTP:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=NcrG4lMnwmy-iG_YUhk93ehtls1u5lXLuU4WTIeb6awCWeWvnJbKZEHsUl1REVlEnje9zDXp_IAsqw]admin@m...[/url
> Sent: Wednesday, March 13, 2002 9:06 AM
> To: basicstamps@yahoogroups.com
> Subject: Re: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
>
> I am in the same boat. I would love to find out how some of these small
> bugs
> navigate. It seems like we could steal some of their navigation means, and
> duplicate them in our applications. Sight is such a crude means of
> navigation and hogs so much brainpower, bugs certainly dont use such a
> hoggish system. I would appreciate anything else you find out. Please
> email
> me with any ideas.
> Admin@m...
>
>
>
> At 08:16 AM 3/13/02 -0600, you wrote:
> >Thanks to everyone for their input.
> >
> >I don't want to weave wire up and down accross my yard - but I will use
> the
> >wire for the perimeter. I'm still
> >trying to decide if I'll do the beaconing, or something else.
> >
> >
> >
> >To UNSUBSCRIBE, just send mail to:
> > basicstamps-unsubscribe@yahoogroups.com
> >from the same email address that you subscribed. Text in the Subject and
> Body of the message will be ignored.
> >
> >
> >Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
> >
> >
> >
>
> Very respectfully, your obedient servant.
> Kerry
> Admin@M...
> WWW server hosting [url=Http://mntnweb.com]Http://mntnweb.com[/url]
> Kerry Barlow
> p.o. box 21
> kirkwood ny
> 13795
> 607-775-1132
>
>
>
>
> To UNSUBSCRIBE, just send mail to:
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>
navigate. It seems like we could steal some of their navigation means, and
duplicate them in our applications. Sight is such a crude means of
navigation and hogs so much brainpower, bugs certainly dont use such a
hoggish system. I would appreciate anything else you find out. Please email
me with any ideas.
Admin@m...
At 08:16 AM 3/13/02 -0600, you wrote:
>Thanks to everyone for their input.
>
>I don't want to weave wire up and down accross my yard - but I will use the
>wire for the perimeter. I'm still
>trying to decide if I'll do the beaconing, or something else.
>
>
>
>To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
>from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
>
>
>Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
>
>
Very respectfully, your obedient servant.
Kerry
Admin@M...
WWW server hosting [url=Http://mntnweb.com]Http://mntnweb.com[/url]
Kerry Barlow
p.o. box 21
kirkwood ny
13795
607-775-1132
This is my preliminary idea:
Mount a single ultrasound transmitter on the robot.
Have 2 ultrasound receivers that are in stationary locations (on the ground,
not on the robot) one or two meters apart from eachother (horozontaly).
The transmitter will be mounted on a servo that points it in the direction
of the receivers all of the time.
The transmitter will ping when the location of the robot is requested.
The difference in the timing of when the ultrasound ping is received at each
of the stationary receivers will allow the location of the robot to be
calculated.
(It will be necessary to have a wireless transmitter on the robot to trigger
the timer on the receivers so that absolute time to receiving the ping can
be obtained)
I would appreciate if people criticize or comment on this idea for local
position sensing so that I can determine if I should continue pursuing this
method.
Thank you
> At 08:16 AM 3/13/02 -0600, you wrote:
> >Thanks to everyone for their input.
> >
> >I don't want to weave wire up and down accross my yard - but I will use
> the
> >wire for the perimeter. I'm still
> >trying to decide if I'll do the beaconing, or something else.
> >
> >
> >
> >To UNSUBSCRIBE, just send mail to:
> > basicstamps-unsubscribe@yahoogroups.com
> >from the same email address that you subscribed. Text in the Subject and
> Body of the message will be ignored.
> >
> >
> >Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
> >
> >
> >
>
> Very respectfully, your obedient servant.
> Kerry
> Admin@M...
> WWW server hosting [url=Http://mntnweb.com]Http://mntnweb.com[/url]
> Kerry Barlow
> p.o. box 21
> kirkwood ny
> 13795
> 607-775-1132
>
>
>
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and
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>
have tried many times now.
At 09:03 AM 3/13/02 -0600, you wrote:
>Have you seen robocut ? He has lots of information about what he has done.
>
>http://www.lls.se/~mux/micro/robocut_us.html
>
>>
Original Message
>> From: Kerry Barlow [noparse]/noparse]SMTP:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=rl3XOWwpxryWKq0hLuNQy9uNgXmD-Eqypn6aPNuT9iQ__Oc0uK-Fuoj7-hz3QjVlyL9dSi_o3yKLQz06]admin@m...[/url
>> Sent: Wednesday, March 13, 2002 9:06 AM
>> To: basicstamps@yahoogroups.com
>> Subject: Re: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
>>
>> I am in the same boat. I would love to find out how some of these small
>> bugs
>> navigate. It seems like we could steal some of their navigation means, and
>> duplicate them in our applications. Sight is such a crude means of
>> navigation and hogs so much brainpower, bugs certainly dont use such a
>> hoggish system. I would appreciate anything else you find out. Please
>> email
>> me with any ideas.
>> Admin@m...
>>
>>
>>
>> At 08:16 AM 3/13/02 -0600, you wrote:
>> >Thanks to everyone for their input.
>> >
>> >I don't want to weave wire up and down accross my yard - but I will use
>> the
>> >wire for the perimeter. I'm still
>> >trying to decide if I'll do the beaconing, or something else.
>> >
>> >
>> >
>> >To UNSUBSCRIBE, just send mail to:
>> > basicstamps-unsubscribe@yahoogroups.com
>> >from the same email address that you subscribed. Text in the Subject and
>> Body of the message will be ignored.
>> >
>> >
>> >Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>>
>> >
>> >
>> >
>>
>> Very respectfully, your obedient servant.
>> Kerry
>> Admin@M...
>> WWW server hosting [url=Http://mntnweb.com]Http://mntnweb.com[/url]
>> Kerry Barlow
>> p.o. box 21
>> kirkwood ny
>> 13795
>> 607-775-1132
>>
>>
>>
>>
>> To UNSUBSCRIBE, just send mail to:
>> basicstamps-unsubscribe@yahoogroups.com
>> from the same email address that you subscribed. Text in the Subject and
>> Body of the message will be ignored.
>>
>>
>> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>>
>
>To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
>from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
>
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>
>
>
Very respectfully, your obedient servant.
Kerry
Admin@M...
WWW server hosting [url=Http://mntnweb.com]Http://mntnweb.com[/url]
Kerry Barlow
p.o. box 21
kirkwood ny
13795
607-775-1132
App mod (www.parrallaxinc.com) works good. The Devantech digital compass
also works outside as well (www.acroname.com). Inside a building they tend
to have trouble because of all the stray magnetic fields. You could use one
of these to maintain a heading. You'll still get a bit of weaving, but what
the heck.
I forget the name or who makes the sensor chip in the Parallax App mod, but
it works pretty good though. It uses a serial I/O line (1 wire) and you only
need to use SERIO functions to use it. The Devantech worked OK too, but it
is a bit more complicated to use.
Original Message
From: Kerry Barlow [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=DXnq6LjOgAopZajCKW3RTflSoxR6h_AkEspF-WOVBNnmbPYeGqbvpcoBXZjxL_9BJlGa6tCUOaBQWw]admin@m...[/url
Sent: Wednesday, March 13, 2002 9:06 AM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] Keeping a robot on a straight path
I am in the same boat. I would love to find out how some of these small bugs
navigate. It seems like we could steal some of their navigation means, and
duplicate them in our applications. Sight is such a crude means of
navigation and hogs so much brainpower, bugs certainly dont use such a
hoggish system. I would appreciate anything else you find out. Please email
me with any ideas.
Admin@m...
At 08:16 AM 3/13/02 -0600, you wrote:
>Thanks to everyone for their input.
>
>I don't want to weave wire up and down accross my yard - but I will use the
>wire for the perimeter. I'm still
>trying to decide if I'll do the beaconing, or something else.
>
>
>
>To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
>from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
>
>
>Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
>
>
Very respectfully, your obedient servant.
Kerry
Admin@M...
WWW server hosting [url=Http://mntnweb.com]Http://mntnweb.com[/url]
Kerry Barlow
p.o. box 21
kirkwood ny
13795
607-775-1132
To UNSUBSCRIBE, just send mail to:
basicstamps-unsubscribe@yahoogroups.com
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