Posts

Showing posts from 2017

localization - Robot Navigation

Image
Localization As discussed,Localization is the process of position it self with respect to the surrounding, surrounding can be define as the global or the local . Consider a person who is in a dark room. if he does not have sens of where he is with respect to the features of the room , next movement could not grantee that he will not hit a wall. So it is important to localize itself if it is moving with respected to it surrounding. If the system has map of it's surrounding , once he has the current and goal positions, actions are straight forward. If there is no map,like in our case, it need to build a accurate enough map while exploring. And also movement should not be too costly to the goal. So to resolve this problem karlman filter integrated particle filter is used to probabilistically map the position and the surrounding. Lidar Scan Data since 2D Lidar is used , Algorithm is only compatible with signal ,one set of distance measurement around fix z axis coordina...

Communication link uisng Pyro4 - Robot Navigation

                                      As mention in the earlier the Localization Algorithm  localize the robot using it surrounding and also surrounding according to the the robot position. it uses a standard particle filter algorithm to position it self with respect to the the obstacle and also each particle go trough a karlman filter to guess the next position of the robot according to the control signal and error dynamics of the robot.              It is not totally correct to divide the  functionally of the the two Algorithm separately since both contribute working as one for this scenarios. But is easy to understand this way. Systematically it is the way bias too.           ...

Full stack development of Robot navigation

Image
Hi everyone, Well, Developing a system that can behave intelligently in environment that previously unknown is challenging? because decision, it has to make is totally, well i can say mostly,? unpredictable before hand . Saying totally unpredictable is wrong which leads to unresolvable problem,So? that means every environment should have some way of predictability in order to get confident judgment about next move . As in controlled environment like assembly line next movement is measured and predictable , if we consider a car in the road , judgment of the next set of action can be predicted using the road signs , other vehicle movement , position and destination of the car and etc.. with tolerable perturbations handling . But if you consider the rover in the mars , only what system has is estimated model how environment could be , build using previous observation , that mean system has to predicted the action mostly according to the what it sens. So that sot of Automated...