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Roomexplorer and mapping NXT-robot
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Rookie

Joined: Mon Apr 08, 2013 12:50 pm
Posts: 6
Roomexplorer and mapping NXT-robot
Hi community!
I would like to introduce my new project “Room explorer with mapping functions”.
The robot based upon a standard REM-Bot but in addition equipped with a hitechnic gyro, hitechnic compass sensor and an omni-wheel (look at the Pictures I will send when the server of RobotC will work again).
First the robot moves about 360° to calibrate the compass using the gyro (thank you to Xander for code!).
Then the robot moves its sonar-head to the right, to the left and in front position to get the distances according to its position. After doing this it turns around to the wall with the minimum distance and drives in front of it until sonar sensor detected a minimum sensor distance, e.g. 20cm. Then the robot turns parallel to the wall, moves his sonar-head to the right detecting the distance to the wall and drives counter clockwise parallel to the wall balancing distance. A mapping-task records the compass and odometry data every second and calculate the polar coordinates to cartesian coordinates (x,y). The coordinates are written as “map.txt”-file. So you can use Excel or an other programm to draw the path which the robot had moved. In addition to that you can follow the path at the NXT-LCD-screen. I had to choose a scale for it, so you have to suit the scale to your room size.
If the robots touch sensor detected an obstacle the robot moves back and turn left for 90 degrees and continuous his explorer-duty allways running counter clockwise with wall to the right.
How to expect the end of path doesn’t suit exactly to the beginning because of inaccuracies of compass and odometry measures.
Have fun to test my programm and let me know if you have some hints for me.
Do anybody have experience with a hitechnic accelerator-sensor to measure/calculate the distance by integrating? Is this method an alternative and more accurate as odometry data?

Merry chrsitmas!

Sigtrygg

Mon Dec 23, 2013 11:42 am
Rookie

Joined: Mon Apr 08, 2013 12:50 pm
Posts: 6
Re: Roomexplorer and mapping NXT-robot
Here you can take a look at the construction of robot...
The upper sensor is the compass sensor.
Let me know, if anything doesn't work.

Bye,

Sigtrygg

 Attachments: File comment: Picture 2 CIMG3125.JPG [ 234.23 KiB | Viewed 433 times ] File comment: Picture 1 CIMG3122.JPG [ 232.57 KiB | Viewed 433 times ]
Sat Dec 28, 2013 5:16 am
Moderator

Joined: Wed Mar 05, 2008 8:14 am
Posts: 3082
Location: Rotterdam, The Netherlands
Re: Roomexplorer and mapping NXT-robot
Hey there!

This is a great project. Do you think you could make some screenshots of your Excel sheet/NXT screen so we can see what it looks like in action? I'd love to see a video of it.

= 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]

Sat Dec 28, 2013 5:49 am
Rookie

Joined: Mon Apr 08, 2013 12:50 pm
Posts: 6
Re: Roomexplorer and mapping NXT-robot
Hello Xander!

Thank you for response.
At the first picture you can see the screenshot of datasheet made with Open Office. The second Picture is the LCD-screen of NXT.
The inaccuracy between start and end is about 22 cm. Maybe there is a method to reduce this?!

Bye,

Sigtrygg

 Attachments: File comment: Screenshot of data-sheet Screenshot open office.png [ 261.56 KiB | Viewed 416 times ] File comment: LCD-Screenshot LCD-Screenshot.jpg [ 276.5 KiB | Viewed 416 times ]
Sat Dec 28, 2013 12:54 pm
Guru

Joined: Sat Mar 01, 2008 12:52 pm
Posts: 1030
Re: Roomexplorer and mapping NXT-robot
could you pls make your photos smaller, e.g. 320x240 ? For the moment, I ain't see nothing yet ...

_________________
regards,
HaWe aka Ford
#define S sqrt(t+2*i*i)<2
#define F(a,b) for(a=0;a<b;++a)

Sat Dec 28, 2013 2:52 pm
Moderator

Joined: Wed Mar 05, 2008 8:14 am
Posts: 3082
Location: Rotterdam, The Netherlands
Re: Roomexplorer and mapping NXT-robot
Buy a bigger monitor The size you suggest is far too small to see anything in great detail.
I am reading this in a non-full screen window on 1080p sized screen and it looks fine.

= 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]

Sat Dec 28, 2013 2:57 pm
Guru

Joined: Sat Mar 01, 2008 12:52 pm
Posts: 1030
Re: Roomexplorer and mapping NXT-robot
haha, I already have 1920X1080
but maybe 640x480 will do as well.

_________________
regards,
HaWe aka Ford
#define S sqrt(t+2*i*i)<2
#define F(a,b) for(a=0;a<b;++a)

Sat Dec 28, 2013 3:12 pm
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