... | @@ -242,6 +242,18 @@ How can you track the position of the vehicle moving in a fixed route by means o |
... | @@ -242,6 +242,18 @@ How can you track the position of the vehicle moving in a fixed route by means o |
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To make a robot that travels along a fixed route using dead reckoning [3], while simultaneously being able to detect and avoid objects of a certain size on its path.
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To make a robot that travels along a fixed route using dead reckoning [3], while simultaneously being able to detect and avoid objects of a certain size on its path.
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The logic behind the task is to imagine a public space in which the robot has to navigate a predefined route. In such situation the robot should be able to detect and avoid people on its path and navigate to a fixed point without crashing into people.
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The logic behind the task is to imagine a public space in which the robot has to navigate a predefined route. In such situation the robot should be able to detect and avoid people on its path and navigate to a fixed point without crashing into people.
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![banegaard](http://gitlab.au.dk/uploads/group-22/lego/17eb9ec552/banegaard.jpg)
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##### Fig. 29 - Picture of Aarhus Main Station.
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Our strategy is to make the robot drive from point A towards point B in a straight line (see fig. 30).
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If the robot encounters an object it will save its pose value in forward direction, turn 90 degrees, drive a short predetermined distance, turn 90 degrees in opposite direction, and then return to the path. When it has passed the object it will compare the current pose value with the ones saved before encountering the object. From this comparison it knows how much distance it needs to cover in order to get to point B.
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It is worth noting that this is just an example of a solution to the problem with navigation along dynamic objects. We will only drive in a straight line and in order to keep things simple we will only handle one predefined object on the path.
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![plan](http://gitlab.au.dk/uploads/group-22/lego/f151686264/plan.png)
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##### Fig. 30 - Our plan to make the robot drive from A to B in a straight line.
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## References
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[1] - http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson10.dir/paper58.pdf
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[1] - http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson10.dir/paper58.pdf
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[2] - http://commons.wikimedia.org/wiki/File:Particle2dmotion.svg
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[2] - http://commons.wikimedia.org/wiki/File:Particle2dmotion.svg
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[3] - http://en.wikipedia.org/wiki/Dead_reckoning |
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[3] - http://en.wikipedia.org/wiki/Dead_reckoning |
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