Author Topic: irobot with adaptive mapping construction  (Read 2308 times)

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Offline bootstrapTopic starter

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irobot with adaptive mapping construction
« on: December 01, 2007, 08:33:28 AM »
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
« Last Edit: December 01, 2007, 08:50:05 AM by Admin »

Offline cooldog

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Re: irobot with adaptive mapping construction (john palmisano)
« Reply #1 on: December 01, 2007, 08:38:33 AM »
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
robot will rule the world and i will be building them
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http://www.instructables.com/

Offline Admin

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Re: irobot with adaptive mapping construction (john palmisano)
« Reply #2 on: December 01, 2007, 08:49:25 AM »
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 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. 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 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

Quote
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!)

Offline cooldog

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Re: irobot with adaptive mapping construction
« Reply #3 on: December 01, 2007, 09:53:59 AM »
robot will rule the world and i will be building them
-admin

favorite web sites
http://www.societyofrobots.com/
http://www.instructables.com/

Offline bootstrapTopic starter

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Re: irobot with adaptive mapping construction
« Reply #4 on: December 02, 2007, 09:30:49 AM »
thank you..i will start working on it

 


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