Autonomous robot runs on the "eight"
Good afternoon, colleagues,
Continuing the previously published article about the high-precision navigation system (+ -2cm) inside the premises, we would like to show how a simple robot based on it can ride on any complex route completely autonomously.
In the video below, we hung a mobile beacon on a simple robot and sent him to walk along the route of eight, which he can do for hours:
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Or you can send it to run around the rectangle:
What can be done with such a system and how:
- Hang the beacons of the navigation system on the walls / ceilings - create a coating. Four lighthouses are enough to close the room up to 30x30m - the main thing is that there is a direct view from the robot to the 3 lighthouses most of the time. If there are small or temporary shadows - people, columns - it does not matter. The robot will use its inertial and odometer navigation system until it goes to the open surface and adjusts its position in the navigation system.
- Further, you simply transfer the robot to the points where it should travel in the future, immediately see the position of the robot on the map of the navigation system, click the mouse on these points, and they remember on the map as points of the future route of the robot. Thus, it turns out the way for the robot
- Everything. Send the robot on its way and it starts to roll along the route, accurately tracking and adjusting its position according to the coordinates of the navigation system.
Why all this:
- This demo is not a real robot. Real robots are very different: from simple robots delivering small loads of 0.1-2kg at assembly plants, in hotels, and warehouses, and ending with large automatic loaders in the hangars of airfields and large warehouses. But the principle of building and using the navigation system is simple and the same for all these robots: (1) the robot gets its coordinates from the navigation system and (2) adjusts its position in space using this data
- We used the wheeled robot for a demo because of the simplicity. But with minor changes, you can use the copter instead of the wheeled robot and send it flying along a route of any complexity along a given trajectory (in 3D!) Or leave it hanging at one point (+ -2 cm) without any significant drift in time
I am pleased to answer your questions and comments.
Kind regards
Maxim
Continuing the previously published article about the high-precision navigation system (+ -2cm) inside the premises, we would like to show how a simple robot based on it can ride on any complex route completely autonomously.
In the video below, we hung a mobile beacon on a simple robot and sent him to walk along the route of eight, which he can do for hours:
')
Or you can send it to run around the rectangle:
What can be done with such a system and how:
- Hang the beacons of the navigation system on the walls / ceilings - create a coating. Four lighthouses are enough to close the room up to 30x30m - the main thing is that there is a direct view from the robot to the 3 lighthouses most of the time. If there are small or temporary shadows - people, columns - it does not matter. The robot will use its inertial and odometer navigation system until it goes to the open surface and adjusts its position in the navigation system.
- Further, you simply transfer the robot to the points where it should travel in the future, immediately see the position of the robot on the map of the navigation system, click the mouse on these points, and they remember on the map as points of the future route of the robot. Thus, it turns out the way for the robot
- Everything. Send the robot on its way and it starts to roll along the route, accurately tracking and adjusting its position according to the coordinates of the navigation system.
Why all this:
- This demo is not a real robot. Real robots are very different: from simple robots delivering small loads of 0.1-2kg at assembly plants, in hotels, and warehouses, and ending with large automatic loaders in the hangars of airfields and large warehouses. But the principle of building and using the navigation system is simple and the same for all these robots: (1) the robot gets its coordinates from the navigation system and (2) adjusts its position in space using this data
- We used the wheeled robot for a demo because of the simplicity. But with minor changes, you can use the copter instead of the wheeled robot and send it flying along a route of any complexity along a given trajectory (in 3D!) Or leave it hanging at one point (+ -2 cm) without any significant drift in time
I am pleased to answer your questions and comments.
Kind regards
Maxim
Source: https://habr.com/ru/post/273635/
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