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SLAM 
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Joined: Mon May 27, 2013 5:12 am
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Post SLAM
Am working on a lego robot project where the lego robot uses the light sensor to follow a black line on a white background. the black line are in some some of random pattern that serves as a network for exploring and mapping.
Ok the problem I am facing now is converting this readings/samples to make a global map independent of the robot's position.
Am chosing to use occupancy grid as a data structure for the map and using probalistic sensors models and bayes theorem to update the grid.
the robot has to look for two objects within the map. It should return to the other item immediately following the least possible route having found the other item.
So I got a task to follow the line at the black line at the moment. am planning to have a task to create and update the map as it explores the network. That map would be an array would it? to store the poses?
So I am thinking i should have a function/task to plot out a route with from the initial starting location to the robots current location as it moves along the network. whilst doing so a map should be created simulatenously. Once the first object has been discovered that position now is the initial point to return to. so when the second object is found it returns to that position. but the route has to be the shortest route.
any tips on coding would be helpful especially on bayes/SLAM. thanks in advance.


Mon May 27, 2013 6:02 am
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Joined: Wed Mar 05, 2008 8:14 am
Posts: 3196
Location: Rotterdam, The Netherlands
Post Re: SLAM
I found something here a while back and bookmarked it. I have no idea how or if it works: http://rsnxt08.googlecode.com/svn-history/trunk/, but it's for ROBOTC :)

This seems another link to the same code: https://code.google.com/p/rsnxt08/sourc ... vn%2Ftrunk

= Xander

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| Professional Conduit of Reasonableness
| (Title bestowed upon on the 8th day of November, 2013)
| My Blog: I'd Rather Be Building Robots
| ROBOTC 3rd Party Driver Suite: [Project Page]


Mon May 27, 2013 8:52 am
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Joined: Mon May 27, 2013 5:12 am
Posts: 2
Post Re: SLAM
Thanks Moderator, you are a champion!!!


Tue May 28, 2013 12:12 am
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Joined: Wed Mar 05, 2008 8:14 am
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Location: Rotterdam, The Netherlands
Post Re: SLAM
You can just call me "Xander" and I hope it works for you or at least point you in the right direction :)

= Xander

_________________
| Professional Conduit of Reasonableness
| (Title bestowed upon on the 8th day of November, 2013)
| My Blog: I'd Rather Be Building Robots
| ROBOTC 3rd Party Driver Suite: [Project Page]


Tue May 28, 2013 1:51 am
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Joined: Sat May 18, 2013 1:24 pm
Posts: 272
Location: Olympia, WA
Post Re: SLAM
If you want to go deeper :), you can always check out this site:
http://openslam.org/
It's the one most IARC competitors get their algorithms from. Of course, they're not in RobotC.

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FRC Team 4450, Olympia Robotics Federation (ORF).

and also quadrotors. Quadrotors!


Sat Jun 01, 2013 1:42 pm
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