Hi All,
Here are some useful autonomous vehicle guidance resoures:
The JBot: http://geology.heroy.smu.edu/~dpa-www/robo/jbot/
Odometer/IMU: http://geology.heroy.smu.edu/~dpa-www/robo/Encoder/imu_odo/
Subsumption: http://geology.heroy.smu.edu/~dpa-www/robo/subsumption/
DPRG Challenge: http://geology.heroy.smu.edu/~dpa-www/robo/challenge/
Regards,
TCIII
Replies
To add, here's a couple of my posts:
Wheel encoders: http://www.bot-thoughts.com/2011/03/avc-bot-wheel-encoders.html
Gyro calibration: http://www.bot-thoughts.com/2012/04/avc-precision-gyro-calibration-...
Here's a little about GPS lag and pose estimation:
http://www.bot-thoughts.com/2012/05/avc-whats-wrong-with-data-bus.html
Sensor calibration, noise, error:
http://www.bot-thoughts.com/2011/12/magnetometers-and-motors.html
http://www.bot-thoughts.com/2012/03/magnetometer-calibration-machin...
http://www.bot-thoughts.com/2012/02/avc-is-compass-necessary.html
http://www.bot-thoughts.com/2012/03/avc-is-3d-compass-necessary.html
http://www.bot-thoughts.com/2012/03/magnetometer-calibration-error....
http://www.bot-thoughts.com/2012/02/avc-encoders-quantization-error...
Hope someone finds this of value.
Hi Thomas,
I have been reading and re-reading those very same papers! I've also recently exchanged emails with David on his 6WD Jbot; which is the example from which I'm building my version of Robomagellan.
You might add to that list the UMBmark papers. And the "where am I" papers.
I've started to look at the Turtlebot node example in ROS. I think we need a node that will handle the ArduPilot Mega 2.0 board.
I'll wait a few (or more) weeks before ordering my board. I will try my 9DOF IMU from Sparkfun. Should keep me busy. I'm still machining bearing mounts for the drive pulleys and timing belts. And a few motor mounts to machine as well.
I did take it to the HBRobotics meeting last night, and my early chassis was well received.
Alan