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From : kpm25
Added: Oct 23, 2009
Implementing the Northstar indoor localization system: The first part is manual control. I am adjusting the trackbars on the motor control form to adjust the amount that the left and right motors turn on (PWM control) so that it steers in an approx 1m square loop. The History path is plotted on the screen. Slight flickering is due to somebody obstructing the view between projector and detector. A filter could be programmed to get rid of this. the second part is autonomous control. There are tags on the floor representing tags on the computer screen. The user clicks the desired tag to go to on the computer screen via the detector control form. The user then clicks the "auto-run" button on the motor control form so that the robot automously navigates to the target within 10cm. Further tuning is needed to improve speed and trajectory planning to target. Wireless module is yet to be implemented along with the custom built robot. (Lego is just for testing purposes)
Category : Tech

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