Go Down

Topic: Obstacle avoidance with an UGV -HELP PLEASE- (Read 6 times) previous topic - next topic

sora628

I cannot tell you how much this is really going to help me!! The GPS library is the same one I use, but for a different GPS, and I have the same digital compass!  Thanks a bunch!!  But back to the obstacle avoidance---any advice/ ideas to get me going?
-Matt-

rgallant

I have some ideas, but currently I have just started playing with ping sensors ,the mail man was good to me today.

I will play around a bit and see what I can come up, I want to build an autonomous tank so it fits in.

The big issue I see with the small servo movements, is sort of a constant left/right turn effect if the the range and time is too small.

If your current code gets you down halls pretty centered then perhaps the problem is more defining a minimum distance.  So if we are with in X distance on the left side adjust to steer right a bit and move forward.  You have a forward arc set up it should be possible to tweak the settings to curve away from or around obstacles.  Which is what you want to accomplish in general terms.

Let me put some thought into this, I need to scrawl some stuff on paper and scan it so it makes sense. I can see in my mind what you want to do, but it is the end of a long work day and I keep coming up the gibberish.


oric_dan

Do a search on "robomagellan" for background material on GPS and
outdoors travel.

sora628

So the whole reason I started this project was for a program in my high school called the Authentic Science Research Program.   I'm not sure if you've heard of it or not--we apply to the Intel talent search senior year.  I'm currently a junior.  Currently, I want to do a study on something in the robotics category, but it looks like I'm going to study obstacle avoidance.  Does anyone have any ideas for a research topic for me?  I need some sort of "question" that hasn't been answered or something that has never been done before.  Maybe create a new obstacle avoidance method, I'm not sure---but any ideas?
-Matt-

AntR

For algorithms, consider using a Braitenberg "algorithm" for you avoidance mechanism.  This works well as a "background" always on behaviour.

http://en.wikipedia.org/wiki/Braitenberg_vehicle

Also consider Potential fields - might work better with your multiple sonar setup:

http://www.cs.mcgill.ca/~hsafad/robotics/index.html

Go Up