Depending on the floor you can use a small low friction caster wheel with an encoder
My floor has multiple surface types: tile, carpet, and wood. And its always getting dirty with all my housemates runnin around . . . Basically there is no way encoders can be entrusted to work with all the various slip conditions.
drift . . . in the end I will still need some type of external reference . . . like SLAM or the beacon idea . . . and I think Im too noob-ish to pull off SLAM with a microcontroller . . .
I think Im just gonna use the rangefinder to follow walls and avoid objects, while using the cam + beacons as a global reference. I went looking through my old boxes and it turns out I own 3 CMUcams (I didnt even know I had that many!
). I also just found some CMUcam with ATmega8 source code
, so it wont be long before I get stuff up and working . . .
Today I just bought $100 worth of bluetooth stuff to do wireless with my robot, perhaps I can get my PC to process stuff . . . but no idea how yet, never done this before . . .