Society of Robots - Robot Forum
General Misc => Misc => Topic started by: bootstrap on December 01, 2007, 08:33:28 AM
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Hello john.
I am a research student in robotics from India.I am taking up a project in SLAM.But before taking up such a comlex task I am interested in building the irobot with adaptive mapping that you have shown in youtube.I prefer making a robot rather than buying irobot.Can you please guide me in this project of making a robot with adaptive mapping.I would like to know what is required to do this project in terms of electronics and software.I can do programming in AVR-GCC and I also have some working knowledge in atmega8.Please tell me what I should have with me in terms of electronics,mechanical and software for building a robot similar to irobot with adaptive mapping.....
I also have a doubt about how your robot kept in its memory about the intial and final position.I guess initially you fed the information that there are two points on a straightline seperated by some distancance..is it right?..Please help me.Hoping for a positive response
admin edit: I removed my name from your subject line :P
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you can build the $50 robot with sharp ir upgrade
http://www.societyofrobots.com/robot_tutorial.shtml
and put encoders on the wheels, write a encoder program for the micro controller and use the algaritum from here
http://www.societyofrobots.com/robot_iRobot_Create_mod.shtml
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There will be a lot to absorb here so just take everything step by step. I definitely didnt figure all this overnight, but took me many many months to get it all working.
If you want to build a robot from 'scratch', check out this how to build a robot tutorial:
http://www.societyofrobots.com/step_by_step_robot.shtml
But don't use the ATmega8 as in the tutorial, use the ATmega168 (its basically the same, but more memory):
http://www.societyofrobots.com/step_by_step_atmega168_swapout.shtml
The largest map you can get with this is a ~15x15 grid, so if you need more then you will have to go with a larger ATmega. Check the atmel AVR selection site (http://www.atmel.com/dyn/products/devices.asp?family_id=607) to choose a different one (the pinout will probably be different).
Then after you have that working, you want to add a sharp IR:
http://www.societyofrobots.com/robot_50_robot_sharpIR.shtml
and also encoders (http://www.societyofrobots.com/sensors_encoder.shtml). You can either make them yourself to save money, or buy a kit like this:
http://www.acroname.com/robotics/parts/R238-WW01-KIT.html
You will need a PID control algorithm (http://www.societyofrobots.com/programming_PID.shtml) to get the encoders to work properly. The create does encoders for you, but you aren't allowed direct access to them (or at least I couldnt figure out how).
After you get all the above done, you are ready for mapping:
http://www.societyofrobots.com/programming_wavefront.shtml
I also have a doubt about how your robot kept in its memory about the intial and final position.I guess initially you fed the information that there are two points on a straightline seperated by some distancance..is it right?..
nope, when I programmed in the map (a matrix) I prefilled in the goal and starting robot location. As the robot explored, it updated the map for objects it found.
edit: ha! cooldog beat me to half of what I just said :P (good job cooldog!)
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this a bit on encoders
http://www.societyofrobots.com/robotforum/index.php?topic=2082.0
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thank you..i will start working on it